LogrobotLM

LogrobotLM — AI fault diagnosis for ABB · KUKA · FANUC robots. It reads your robot backup in your browser (never uploaded) and pinpoints the fault. Try it free → · Le diagnostic IA qui lit la sauvegarde de votre robot, sans rien téléverser.

FANUC Alarm FRCE-199 — Single singularity error (F:%d^1)

FANUC FRCE-199 (“Single singularity error (F:%d^1)”): The axis has approached a singularity point during force control. First check: There are two possible robot poses which cause this alarm: 1.

Updated 2026-08-29 · LogrobotLM reference

Description

The axis has approached a singularity point during force control.

Remedy · Remède

There are two possible robot poses which cause this alarm: 1. The angle of J5 is 0 degrees. 2. The sum of the angles of J3 and J5 is 90 degrees. Be sure to avoid approaching these states during force control.

Frequently asked · Questions fréquentes

What does FANUC alarm FRCE-199 mean?
FANUC FRCE-199 (“Single singularity error (F:%d^1)”): The axis has approached a singularity point during force control.
How do you troubleshoot FANUC alarm FRCE-199?
There are two possible robot poses which cause this alarm: 1. The angle of J5 is 0 degrees. 2. The sum of the angles of J3 and J5 is 90 degrees. Be sure to avoid approaching these states during force control.

Related codes / Codes liés

FRCE-180F/S ITP counter error (F:%d^1)FRCE-181Force sensor type error (F:%d^1)FRCE-201Complex singularity error (F:%d^1)FRCE-203Joint axis limit error (F:%d^1)

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 →