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FANUC Alarm TOOL-016 — Robot not mastered(Tool axis).

FANUC TOOL-016 (“Robot not mastered(Tool axis).”): Mastering of the servo tool axis has not been performed. First check: Perform mastering of the servo tool axis.

Updated 2026-08-29 · LogrobotLM reference

Description

Mastering of the servo tool axis has not been performed.

Remedy · Remède

Perform mastering of the servo tool axis.

Frequently asked · Questions fréquentes

What does FANUC alarm TOOL-016 mean?
FANUC TOOL-016 (“Robot not mastered(Tool axis).”): Mastering of the servo tool axis has not been performed.
How do you troubleshoot FANUC alarm TOOL-016?
Perform mastering of the servo tool axis.

Related codes / Codes liés

TOOL-014TOOL ATTACH is failed (G%d)TOOL-015TOOL DETACH is failed (G%d)TOOL-017Robot not calibrated(Tool axis).TOOL-018Ref pos not set(Tool axis).

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 →