LogrobotLM

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FANUC Alarm CD-026 — STOP Illegal transition:nonCD<->CD

FANUC CD-026 (“STOP Illegal transition:nonCD<->CD”): Illegal transition (nonCD->CD or CD->nonCD) happens. First check: Add or remove motion option COORD.

Updated 2026-09-17 · LogrobotLM reference

Description

Illegal transition (nonCD->CD or CD->nonCD) happens.

Remedy

Add or remove motion option COORD.

Related codes

CD-024WARN Calibration was inaccurateCD-025STOP Can't convert positionCD-027STOP Illegal follower transitionCD-028STOP T1 speed limit

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 →