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FANUC Alarm PALT-139 — WARN …:wrist angle correction failed

Manufacturer wording — WARN %s:wrist angle correction failed
The manual prints placeholders; your controller fills them in with the real group, axis or number.

FANUC PALT-139 (“WARN …:wrist angle correction failed”): The routine that calculates the final destination position while moving from the current source position has failed. First check: Check that all positions are in range.

Updated 2026-09-17 · LogrobotLM reference

Description

The routine that calculates the final destination position while moving from the current source position has failed. The preceding error should be: 'Error: Infeed=x Pallet=y Unit=x'. This means that the robot was working with infeed x, pallet y and box z when the error occured.

Remedy

Check that all positions are in range.

Related codes

PALT-137WARN Unit load num out of rangePALT-138WARN Only Pal OR Cycle stop allowedPALT-140WARN Cycle power to increase registersPALT-141WARN Cycle power to increase macros

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 →