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FANUC Alarm MOTN-147 — WARN L->J replan joint slowdown

Manufacturer wording — WARN L->J replan joint slowdown (G:%d^2)
The manual prints placeholders; your controller fills them in with the real group, axis or number.

FANUC MOTN-147 (“WARN L->J replan joint slowdown”): Linear motions ignore turn numbers. First check: Change the current motion's motype to linear or change the previous motion's motype to joint.

Updated 2026-09-17 · LogrobotLM reference

Description

Linear motions ignore turn numbers. Therefore, when a joint motion follows several linear motions, the turn number might be mismatched, causing the robot to slow down

Remedy

Change the current motion's motype to linear or change the previous motion's motype to joint. If the problem persists, re-teach the path.

Related codes

MOTN-145STOP No cart Turbo Move SPMOTN-146STOP INTR can't replan major axisMOTN-148WARN Can't move concurrentlyMOTN-149STOP CF:rotspeedlim exceeded line:…

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 →