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FANUC Alarm MOTN-200 — WARN Too long anticipate time

Manufacturer wording — WARN (%s^4, %d^5) Too long anticipate time
The manual prints placeholders; your controller fills them in with the real group, axis or number.

FANUC MOTN-200 (“WARN Too long anticipate time”): Specified TimeBefore (anticipation) value was too large First check: 1. Reteach the previous point to make motion segment longer.

Updated 2026-09-17 · LogrobotLM reference

Description

Specified TimeBefore (anticipation) value was too large

Remedy

1. Reteach the previous point to make motion segment longer. 2. Specify smaller TimeBefore value.

Related codes

MOTN-198WARN CRC Start-Via too close(L:…)MOTN-199WARN CRC Via-Dest too close(L:…)MOTN-205SingularityMOTN-206WARN Singular Node

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 →