FANUC Alarm MOTN-090 — STOP MIR mismatch
Manufacturer wording — STOP MIR mismatch (G:%d^2)
The manual prints placeholders; your controller fills them in with the real group, axis or number.
FANUC MOTN-090 (“STOP MIR mismatch”): Internal plan error:mir mismatch First check: Perform a cold start: 1.
Updated 2026-09-17 · LogrobotLM reference
Description
Internal plan error:mir mismatch
Remedy
Perform a cold start: 1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
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 →