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 →

FANUC Alarm FRCE-201 — Complex singularity error (F:…)

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

FANUC FRCE-201 (“Complex singularity error (F:…)”): 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 2026-09-17 · LogrobotLM reference

Description

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

Remedy

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

Related codes

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