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FANUC Alarm INTP-616 — ARC:Sub program has motion line

Manufacturer wording — (%s^4, %d^5)ARC:Sub program has motion line
The manual prints placeholders; your controller fills them in with the real group, axis or number.

FANUC INTP-616 (“ARC:Sub program has motion line”): Sub program called between A motion statement has motion statement. First check: Don't call the program that has motion statement between A motion statements.

Updated 2026-09-17 · LogrobotLM reference

Description

Sub program called between A motion statement has motion statement.

Remedy

Don't call the program that has motion statement between A motion statements.

Related codes

INTP-614ARC:Palletizing in A motionINTP-615ARC:Call nesting is too deepINTP-617ARC:JMP between A motionINTP-618ARC:END between A motions

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 →