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FANUC Alarm MOTN-151 — PM: WPR data error (L:%d)

FANUC MOTN-151 (“PM: WPR data error (L:%d)”): The rotation move exceeded the tolerance. First check: Check the position data(WPR) in the IBGN file which is output to MC or PC by the External Path Modification function.

Updated 2026-08-29 · LogrobotLM reference

Description

The rotation move exceeded the tolerance.

Remedy · Remède

Check the position data(WPR) in the IBGN file which is output to MC or PC by the External Path Modification function. When the rotation between interpolation data is over the limit set by system variable,

Frequently asked · Questions fréquentes

What does FANUC alarm MOTN-151 mean?
FANUC MOTN-151 (“PM: WPR data error (L:%d)”): The rotation move exceeded the tolerance.
How do you troubleshoot FANUC alarm MOTN-151?
Check the position data(WPR) in the IBGN file which is output to MC or PC by the External Path Modification function. When the rotation between interpolation data is over the limit set by system variable,

Related codes / Codes liés

MOTN-149STOP CF:rotspeedlim exceeded line:%d^5MOTN-150PM: XYZ data error (L:%d)MOTN-152PM: Can't current record dataMOTN-153PM: Joint move fast (L:%d)

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 →