LogrobotLM

LogrobotLM — AI fault diagnosis for ABB · KUKA · FANUC robots. It reads your robot backup in your browser (never uploaded) and pinpoints the fault. Try it free → · Le diagnostic IA qui lit la sauvegarde de votre robot, sans rien téléverser.

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 2026-08-29 · LogrobotLM reference

Description

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

Remedy · Remède

Add or remove motion option COORD.

Frequently asked · Questions fréquentes

What does FANUC alarm MUPS-007 mean?
FANUC MUPS-007 (“ERR_STOP_C Illegal transition:nonCD<->CD”): Illegal transition (nonCD->CD or CD->nonCD) happens.
How do you troubleshoot FANUC alarm MUPS-007?
Add or remove motion option COORD.

Related codes / Codes liés

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. · 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. How this reference is built →