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FANUC Alarm CD-016 — STOP INC motion is not supported

FANUC CD-016 (“STOP INC motion is not supported”): INCREMENTAL motion is not supported with coordinated motion First check: Delete INC instruction

Updated 2026-09-17 · LogrobotLM reference

Description

INCREMENTAL motion is not supported with coordinated motion

Remedy

Delete INC instruction

Related codes

CD-014WARN Jog group has multi followerCD-015STOP Wrist joint is not supportedCD-017STOP INDEP motn is not supportedCD-018STOP No calibration for CD

Indicative field information — the robot manufacturer's manual and safety procedures always prevail. Never bypass a safety device; apply lockout/tagout (LOTO) before any physical intervention. How this reference is built →