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FANUC Alarm MOTN-209 — WARN Modify Singular Dest(L:%d)

Description

This warning message indicates that the taught position at the specific line is inside a singularity zone. By default, the system modifies it in order to control the rotation of axis 4. If $ra_prarmgrp[].$use_strt_j4 = TRUE, the Auto Singularity Avoidance function will internally modify the destination position when it is inside a pre-defined singularity zone in the following way:

Remedy · Remède

If you do not want the system to modify the singularity point, set $ra_paramgrp[].$use_strt_j4 = FALSE.

Related codes / Codes liés

MOTN-206WARN (%s^4, %d^5) Singular NodeMOTN-208WARN Config Not Reached (L:%d)MOTN-210STOP Failed to resume programMOTN-211STOP Dual ARC not allowed at T1

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.