FANUC robot collision / motion supervision error — error codes to check
Motion supervision trips when actual torque exceeds the expected model: wrong tool/payload data, mechanical binding, or a real collision. These codes tell the cases apart.
40 FANUC fault codes match this symptom — start with the most frequent ones below.
- APSH-201Automatic Collision Recovery
- BELL-080PAUS Collision alarm
- BELL-087PAUS Collision Detection (Hand Broke)
- GUID-005WARN Torque limit, axis num …
- GUID-232STOP Collision, Axis …
- INTP-260PAUSE Invalid torque limit value
- INTP-271WARN Excessive torque limit value
- PAIN-155ABRT Collision alarm
- PAIN-162ABRT Collision Detection (Hand Broke)
- PNT1-114Collision alarm
- PNT1-121Collision Detection (Hand Broke)
- PNT2-114Collision alarm
- PNT2-121Collision Detection (Hand Broke)
- SPOT-047WARN Collision Detection Alarm
- SRVO-050SERVO Collision Detect alarm
- SRVO-179WARN Motor torque limit
- SVGN-018STOP Illegal torque limit value
- TMAT-017Collision! Run TorchMate
- APSH-202Recovery Program not found
- APSH-204Running recovery prog …
- APSH-205Running original prog …
- CPMO-065Need Abort:GmSTOPPOS MisSyn
- CPMO-066Need Abort:GmRSType MisSyn
- CPMO-067Need Abort:GmRsInfo Mismatch
- CPMO-072Need Abort:PathChanged
- CPMO-073Need Abort:PathChanged
- FRCE-261Torque at the end is not ok (F:…)
- FRCE-262End Force and Torque is not ok (F:…)
- GUID-007SERVO Excess command torque …
- MOTN-400STOP No Coll. Guard Reg. Defined
- MOTN-401STOP Coll. Guard Reg. Data Error
- MOTN-404Group … does not support HSCD
- OPIF-001WARN No Coll. Guard Reg. Defined
- OPIF-002WARN Coll. Guard Reg. Data Error
- PNT1-258HIGH SpeedDock TORQUE: …
- PNT1-823HIGH ServoBell TORQUE
- PNT1-829HIGH SpeedDock TORQUE
- PNT1-833HIGH ServoBell TORQUE
- PNT1-839HIGH SpeedDock TORQUE
- PNT2-823HIGH ServoBell TORQUE
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 →