FANUC Alarm CPMO-095 — Too Large Jnt Cmd

Manufacturer wording — Too Large Jnt Cmd (G:%d A:%d)
The manual prints placeholders; your controller fills them in with the real group, axis or number.

FANUC CPMO-095 (“Too Large Jnt Cmd”): The motion command exceeds joint velocity, acceleration, or jerk limits. First check: Increase $cp_paramgrp[].$jnt_vel_lim[], $cp_paramgrp[].$jnt_acc_lim[], or $cp_paramgrp[].$jnt_jrk_lim[] for the affected group and axis.

Updated 2026-09-17 · LogrobotLM reference

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 →