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 → · Le diagnostic IA qui lit la sauvegarde de votre robot, sans rien téléverser.

FANUC Alarm FRCE-324 — Illegal joint singular (F:%d^1)

FANUC FRCE-324 (“Illegal joint singular (F:%d^1)”): 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 2026-08-29 · LogrobotLM reference

Description

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

Remedy · Remède

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.

Frequently asked · Questions fréquentes

What does FANUC alarm FRCE-324 mean?
FANUC FRCE-324 (“Illegal joint singular (F:%d^1)”): Bad values for the system variables $CCI_GRP.$SJSW[] and/or $CCI_GRP.$SJSE[].
How do you troubleshoot FANUC alarm FRCE-324?
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 / Codes liés

FRCE-322Unknown master type (F:%d^1)FRCE-323Illegal limit data (F:%d^1)FRCE-325Illegal F/S coord. system (F:%d^1)FRCE-326Illegal F/S range (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 →