FANUC Alarm CPMO-095 — Too Large Jnt Cmd (G:%d A:%d)
FANUC CPMO-095 (“Too Large Jnt Cmd (G:%d A:%d)”): 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 2026-08-29 · LogrobotLM reference
Description
The motion command exceeds joint velocity, acceleration, or jerk limits.
Remedy · Remède
Increase $cp_paramgrp[].$jnt_vel_lim[], $cp_paramgrp[].$jnt_acc_lim[], or $cp_paramgrp[].$jnt_jrk_lim[] for the affected group and axis. Abort the program and trythe operation again. If the alarm persists, document the events that led to the error and call your FANUC or FANUC Robotics technical representative.
Frequently asked · Questions fréquentes
- What does FANUC alarm CPMO-095 mean?
- FANUC CPMO-095 (“Too Large Jnt Cmd (G:%d A:%d)”): The motion command exceeds joint velocity, acceleration, or jerk limits.
- How do you troubleshoot FANUC alarm CPMO-095?
- Increase $cp_paramgrp[].$jnt_vel_lim[], $cp_paramgrp[].$jnt_acc_lim[], or $cp_paramgrp[].$jnt_jrk_lim[] for the affected group and axis. Abort the program and trythe operation again. If the alarm persists, document the events that led to the error and call your FANUC or FANUC Robotics technical representative.
Related codes / Codes liés
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