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FANUC Alarm FRCE-324 — Illegal joint singular (F:…)

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

FANUC FRCE-324 (“Illegal joint singular (F:…)”): Bad values for the system variables $CCI_GRP.$SJSW[] and/or $CCI_GRP.$SJSE[]. First check: Default values are: $CCI_GRP.$SJSW[1],[2],[4],[6] = 0, $SJSW[3],[5] = 5 $CCI_GRP.$SJSE[1],[2],[4],[6] = 0, $SJSE[3],[5] = 3 Set the above values, then turn the controller OFF, then ON again.

Updated 2026-09-17 · LogrobotLM reference

Description

Bad values for the system variables $CCI_GRP.$SJSW[] and/or $CCI_GRP.$SJSE[].

Remedy

Default values are: $CCI_GRP.$SJSW[1],[2],[4],[6] = 0, $SJSW[3],[5] = 5 $CCI_GRP.$SJSE[1],[2],[4],[6] = 0, $SJSE[3],[5] = 3 Set the above values, then turn the controller OFF, then ON again.

Related codes

FRCE-322Unknown master type (F:…)FRCE-323Illegal limit data (F:…)FRCE-325Illegal F/S coord. system (F:…)FRCE-326Illegal F/S range (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 →