FANUC Alarm MOTN-209 — WARN Modify Singular Dest(L:…)
Manufacturer wording — WARN Modify Singular Dest(L:%d)
The manual prints placeholders; your controller fills them in with the real group, axis or number.
FANUC MOTN-209 (“WARN Modify Singular Dest(L:…)”): This warning message indicates that the taught position at the specific line is inside a singularity zone. First check: If you do not want the system to modify the singularity point, set $ra_paramgrp[].$use_strt_j4 = FALSE.
Updated 2026-09-17 · LogrobotLM reference
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
If you do not want the system to modify the singularity point, set $ra_paramgrp[].$use_strt_j4 = FALSE.
Related codes
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 →