FANUC Alarm FRCE-513 — AIT R direction environment NG (F:…)
Manufacturer wording — AIT R direction environment NG (F:%d^1)
The manual prints placeholders; your controller fills them in with the real group, axis or number.
FANUC FRCE-513 (“AIT R direction environment NG (F:…)”): An environmental characteristic in the R direction could not be acquired in the impedance parameters auto tuning. First check: Modify the force control parameters in the following order; then execute the impedance parameters auto tuning again.
Updated 2026-09-17 · LogrobotLM reference
Description
An environmental characteristic in the R direction could not be acquired in the impedance parameters auto tuning.
Remedy
Modify the force control parameters in the following order; then execute the impedance parameters auto tuning again. 1. The impedance change for the environmental characteristic acquisition might be too rough. Increase the system variable $CCSCH_GRPxx[i].$TD.$NUM_KEI[1]. [The schedule number is calculated as ((xx-10)*5+i). Modify the appropriate $CCSCH_GRPxx[i]. 2. The desired force might be too small. Increase the desired force. 3. The desired force might be too large. Decrease the desired force.
Related codes
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 →