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FANUC Alarm MOTN-147 — WARN L->J replan joint slowdown (G:%d^2)

FANUC MOTN-147 (“WARN L->J replan joint slowdown (G:%d^2)”): 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 2026-08-29 · 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 · Remède

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.

Frequently asked · Questions fréquentes

What does FANUC alarm MOTN-147 mean?
FANUC MOTN-147 (“WARN L->J replan joint slowdown (G:%d^2)”): 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
How do you troubleshoot FANUC alarm MOTN-147?
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 / Codes liés

MOTN-145STOP No cart Turbo Move SP (G:%d^2)MOTN-146STOP INTR can't replan major axis(G:%d^2)MOTN-148WARN Can't move concurrently (G:%d^2)MOTN-149STOP CF:rotspeedlim exceeded line:%d^5

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. · Informations indicatives issues du terrain — le manuel du constructeur et ses procédures de sécurité font foi. Ne shuntez jamais un organe de sécurité ; consignez (LOTO) avant toute intervention physique. How this reference is built →