LogrobotLM

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FANUC Alarm CD-029 — Illegal to switch leader

FANUC CD-029 (“Illegal to switch leader”): Cannot switch leader group while in coordinated motion. First check: Use the same leader group number.

Updated 2026-08-29 · LogrobotLM reference

Description

Cannot switch leader group while in coordinated motion.

Remedy · Remède

Use the same leader group number. Change the leader only when preceeded by a non-coordinated motion.

Frequently asked · Questions fréquentes

What does FANUC alarm CD-029 mean?
FANUC CD-029 (“Illegal to switch leader”): Cannot switch leader group while in coordinated motion.
How do you troubleshoot FANUC alarm CD-029?
Use the same leader group number. Change the leader only when preceeded by a non-coordinated motion.

Related codes / Codes liés

CD-027STOP Illegal follower transitionCD-028STOP T1 speed limit(G:%d^2)CD-034CD_XF update fail. G%d movingCD-035CD Pair %d Copy %d is used

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. · Informations indicatives issues du terrain — le manuel du constructeur et ses procédures de sécurité font foi. Ne shuntez jamais un organe de sécurité ; consignez (LOTO) avant toute intervention physique. How this reference is built →