FANUC Alarm FRCE-519 — AIT R direction unstable (F:…)
Manufacturer wording — AIT R direction unstable (F:%d^1)
The manual prints placeholders; your controller fills them in with the real group, axis or number.
FANUC FRCE-519 (“AIT R direction unstable (F:…)”): The force in the R direction became excessive while acquiring an environmental characteristic in the impedance parameters auto tuning. First check: Correct the errors in the following order; then execute the impedance parameters auto tuning again.
Updated 2026-09-17 · LogrobotLM reference
Description
The force in the R direction became excessive while acquiring an environmental characteristic in the impedance parameters auto tuning.
Remedy
Correct the errors in the following order; then execute the impedance parameters auto tuning again. 1. Execessive force was generated during the auto tuning. Stop any vibration sources that are near the robot. 2. The desired force might be too small. Increase 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 →