LogrobotLM

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FANUC Alarm FRCE-201 — Complex singularity error (F:%d^1)

FANUC FRCE-201 (“Complex singularity error (F:%d^1)”): The robot has approached a singularity due to the positions of J1 and J6 during force control. First check: Force control must not be executed while J6 is directly above J1 (the robot base).

Updated 2026-08-29 · LogrobotLM reference

Description

The robot has approached a singularity due to the positions of J1 and J6 during force control.

Remedy · Remède

Force control must not be executed while J6 is directly above J1 (the robot base).

Frequently asked · Questions fréquentes

What does FANUC alarm FRCE-201 mean?
FANUC FRCE-201 (“Complex singularity error (F:%d^1)”): The robot has approached a singularity due to the positions of J1 and J6 during force control.
How do you troubleshoot FANUC alarm FRCE-201?
Force control must not be executed while J6 is directly above J1 (the robot base).

Related codes / Codes liés

FRCE-181Force sensor type error (F:%d^1)FRCE-199Single singularity error (F:%d^1)FRCE-203Joint axis limit error (F:%d^1)FRCE-205Cool down fail in pause (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 →