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FANUC Alarm FRCE-199 — Single singularity error (F:…)

Manufacturer wording — Single singularity error (F:%d^1)
The manual prints placeholders; your controller fills them in with the real group, axis or number.

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

Updated 2026-09-17 · LogrobotLM reference

Description

The axis has approached a singularity point during force control.

Remedy

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

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

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 →