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FANUC Alarm MOTN-153 — PM: Joint move fast (L:…)

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

FANUC MOTN-153 (“PM: Joint move fast (L:…)”): The joint angle move exceeded the tolerance. First check: The joint angle move might be too fast because it must move around a singularity point.

Updated 2026-09-17 · LogrobotLM reference

Description

The joint angle move exceeded the tolerance.

Remedy

The joint angle move might be too fast because it must move around a singularity point. Reteach the point and remove the singularity point.

Related codes

MOTN-151PM: WPR data error (L:…)MOTN-152PM: Can't current record dataMOTN-154PM: I/O data error (L:…)MOTN-155PM: No interpolation data

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 →