LogrobotLM

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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 2026-09-17 · LogrobotLM reference

Description

Mastering of the servo tool axis has not been performed.

Remedy

Perform mastering of the servo tool axis.

Related codes

TOOL-014TOOL ATTACH is failedTOOL-015TOOL DETACH is failedTOOL-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. How this reference is built →