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FANUC Alarm RTCP-009 — DRTCP Joint move not allow

FANUC RTCP-009 (“DRTCP Joint move not allow”): DRTCP coordinate jog does not allow joint jog. First check: Use a Cartesian move instead.

Updated 2026-08-29 · LogrobotLM reference

Description

DRTCP coordinate jog does not allow joint jog.

Remedy · Remède

Use a Cartesian move instead.

Frequently asked · Questions fréquentes

What does FANUC alarm RTCP-009 mean?
FANUC RTCP-009 (“DRTCP Joint move not allow”): DRTCP coordinate jog does not allow joint jog.
How do you troubleshoot FANUC alarm RTCP-009?
Use a Cartesian move instead.

Related codes / Codes liés

RTCP-007DRTCP use FINE for transitionRTCP-008DRTCP Joint pos not allowRTCP-010DRTCP INC move not allowRTCP-011DRTCP Internal Error 1

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 →