LogrobotLM

LogrobotLM — AI fault diagnosis for ABB · KUKA · FANUC robots. It reads your robot backup in your browser (never uploaded) and pinpoints the fault. Try it free →

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

Manufacturer wording — PM: WPR data error (L:%d)
The manual prints placeholders; your controller fills them in with the real group, axis or number.

FANUC MOTN-151 (“PM: WPR data error (L:…)”): 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 2026-09-17 · LogrobotLM reference

Description

The rotation move exceeded the tolerance.

Remedy

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

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

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 →