LogrobotLM

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FANUC Alarm MUPS-007 — ERR_STOP_C Illegal transition:nonCD<->CD

FANUC MUPS-007 (“ERR_STOP_C Illegal transition:nonCD<->CD”): Illegal transition (nonCD->CD or CD->nonCD) happens. First check: Add or remove motion option COORD.

Updated 2026-09-17 · LogrobotLM reference

Description

Illegal transition (nonCD->CD or CD->nonCD) happens.

Remedy

Add or remove motion option COORD.

Related codes

MUPS-005PAUSE. G Invalid OFFSET MODE valueMUPS-006ERR_STOP_C BWD not allowed in M-PASSMUPS-008ERR_ABO_C Invalid pass numberMUPS-009ERR_STOP_C Invalid Direction

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 →