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

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.

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.