FANUC Alarm SRVO-040 — WARN Mastered at mark pos
Manufacturer wording — WARN Mastered at mark pos(G:%d)
The manual prints placeholders; your controller fills them in with the real group, axis or number.
FANUC SRVO-040 (“WARN Mastered at mark pos”): Zero position master is done with mark position (not with zero position). First check: This message is only for S-420iR.
Updated 2026-09-17 · LogrobotLM reference
Description
Zero position master is done with mark position (not with zero position).
Remedy
This message is only for S-420iR. S-420iR has the mark at non-zero position for J2 and J3. So Zero position master is not done with zero pos for S-420iS. Confirm the position of each axis to be at mark position. If the robot is not S-420iR, $scr_grp.$robot_model may be wrong. Set correct $scr_grp.$robot_model.
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 →