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FANUC Alarm MOTN-159 — PM: Joint data error (L:…)

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

FANUC MOTN-159 (“PM: Joint data error (L:…)”): The joint data is invalid. First check: Rerecord the data again except without the singularity, and the configuration's change point.

Updated 2026-09-17 · LogrobotLM reference

Description

The joint data is invalid. The recorded data might be around singularity point and has changed configuration.

Remedy

Rerecord the data again except without the singularity, and the configuration's change point.

Related codes

MOTN-157PM: Internal errorMOTN-158PM: Original path invalidMOTN-161WARN (… L:…) Can't look aheadMOTN-170Load is close to capacity

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 →