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FANUC Alarm RTCP-001 — PAUSE Wrist Joint is not allow

FANUC RTCP-001 (“PAUSE Wrist Joint is not allow”): Wrist joint orient type resume is not allow in RTCP motion. First check: Change $MCR_GRP[*].$RSM_ORIENT to 1 (OR_RS_WORLD).

Updated 2026-09-17 · LogrobotLM reference

Description

Wrist joint orient type resume is not allow in RTCP motion.

Remedy

Change $MCR_GRP[*].$RSM_ORIENT to 1 (OR_RS_WORLD).

Related codes

RTCP-002PAUSE VRTCP not calibratedRTCP-003STOP VRTCP Invalid UTool No.

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 →