FANUC Alarm SEAL-021 — WARN Gun on/off too late: Sch …
Manufacturer wording — WARN Gun on/off too late: Sch %d
The manual prints placeholders; your controller fills them in with the real group, axis or number.
FANUC SEAL-021 (“WARN Gun on/off too late: Sch …”): In the Schedule number listed, the Gun On signal has been set up to turn on or off too long after the node the SS[] or SE is attached to. First check: There is no real danger in this condition.
Updated 2026-09-17 · LogrobotLM reference
Description
In the Schedule number listed, the Gun On signal has been set up to turn on or off too long after the node the SS[] or SE is attached to. Currently, if this signal is set up to turn on or off greater than 100ms after the node, this warning will be posted and the signal will fore 100ms after the node. These are the formulas used to determine when the gun will be turned on or off relative to the node for seal schedule 'n': For SS[n]: Time_Before = EQUIPMENT_DELAY - GUNON_DELAY For SE: Time_Before = EQUIPMENT_DELAY - GUNOFF_DELAY Note that a NEGATIVE Time_Before means AFTER the node.
Remedy
There is no real danger in this condition. You should be aware that if you try to turn the gun on or off after 100ms AFTER the node, the signal will always be fired 100ms after the node and this warning will be posted. To correct this problem, make the equipment_delay more positive or the gunon/gunoff delay more negative, to move the firing of the signal up earlier.
Related codes
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 →