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CPMO-001 ABORT Internal PLAN error (G: %d^2)
Cause: An internal error occurred in the Constant Path PLAN module. This class of error should
not be encountered during normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup, loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software versions are not
matched, a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options has been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
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CPMO-002 ABORT Internal INTR error (G: %d^2)
Cause: An internal error occurred in the Constant Path INTR module. This class of error should
not be encountered during normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup, loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software versions are not
matched, a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options has been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________

CPMO-003 SERVO2 Internal CP error (G: %d^2)
Cause: An internal CP error occurred. This class of error should not be encountered during normal
operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup, loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software versions are not
matched, a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options has been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-004 ABORT Feature not Supported (G: %d^2)
Cause: CP does NOT support this feature.
Remedy: Disable the feature and try the operation again.
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CPMO-005 SYSTEM Out of memory
Cause: CP ran out of memory during initialization.
Remedy: Check the $CP_PARAMGRP variables for too large values. Use a larger memory
configuration.
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CPMO-010 SERVO2 Cycle power:JBF size (G: %d^2)
Cause: The data struture is not large enough with either JBF size or Ext JBF size.
Remedy: Cycle power to increase the size of either jbf_size or ext_jbf_size automatically

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CPMO-011 SERVO2 JBF INTR_T < Ts (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive option have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________

CPMO-012 SERVO2 JBF Len<0 (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive option have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-013 SERVO2 JBF Len=0 (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive option have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-014 SERVO2 JBF NULL PTR (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive option have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________

CPMO-015 SERVO2 JBF Ts>itp (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive option have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-016 SERVO2 JBF Ts != 0 (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive option have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-017 SERVO2 JBF INTR_T != itp (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive option have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-018 SERVO2 JBF nitp_time < 1 (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive option have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-019 SERVO2 JBF INTR_T > itp (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive option have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-020 ABORT JBF MEMORY ALLOC ERROR
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive option have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________

CPMO-021 SERVO2 JBF Index < 0 (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-022 SERVO2 JBF Ptout > Ptin (G: %d^2)
Cause: Internal INTR error. This class of error should not be encountered during normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-023 SERVO2 JBF Ptout != Ptin (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-025 SERVO2 JBF Ts < 0 (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-026 SERVO2 JBF Ts != 0 (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-027 SERVO2 JBF Ts > itp
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-028 SERVO2 JBF TS, Ptin & Ptout mismatch
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-029 SERVO2 JBF Index > 1 (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-030 SERVO2 JBF Ptout > npts (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________

CPMO-031 SERVO2 JBF Len <= 0 (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-032 SERVO2 JBF Set not empty (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-033 SERVO2 JBF not empty (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-034 SERVO2 JBF len mismatch (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-035 SERVO2 JBF set not main (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-036 SERVO2 JBF set not valid (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-037 SERVO2 JBF not valid (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-038 SERVO2 NonZero JBF Remainder(G: %d^2)
Cause: Internal INTR error: A empty JBFset has non-zero remainder
Remedy: Press RESET. If the error still exists, document the events that led to the error and call
your FANUC Robotics technical representative.
________________________________________________________________
CPMO-039 SERVO2 NonZero Chn Remainder(G: %d^2)
Cause: Internal INTR error: A empty Channel has non-zero remainder
Remedy: Perform a Cold start:
1. Turn off the robot.
2. On the teach pendant, press and hold the SHIFT and RESET keys.
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
________________________________________________________________
CPMO-040 ABORT GTF not empty (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________

CPMO-041 ABORT GTF no main filter (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-042 ABORT GTF fout too big (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-043 ABORT GTF num_tf != 1 (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-044 SYSTEM Cycle power: GTFsize (G: %d^2)
Cause: An allocated time filter size is too small.
Remedy: Cycle power to automatically increase time filter size. Alternatively, manually adjust
$cp_paramgrp[].$tf_size and cycle power for the change to take effect.
________________________________________________________________
CPMO-045 ABORT Local Hold error (G: %d^2)
Cause: The difference between channel previous input and current input is not eligible under local
hold.
Remedy: Press RESET and try the operation again. If the problem still persists, document the events
that led to the error, and call your FANUC Robotics technical represntative.
________________________________________________________________
CPMO-046 ABORT ChnI != ChO + CIF (G: %d^2)
Cause: Chn Input != Chn Output + CIF
Remedy: Press RESET and try the operation again. If the problem still persists, document the events
that led to the error, and call your FANUC Robotics technical represntative.
________________________________________________________________
CPMO-050 ABORT No System Variables (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-051 ABORT No Data Structure (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-052 ABORT Stack Underflow (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-053 ABORT No Stack (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-054 ABORT Stack Overflow (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-055 ABORT Stack Not Full (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-056 ABORT Corrupt data (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-057 ABORT Wrong MT or OT (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-058 SYSTEM Cycle power: CHNs (G: %d^2)
Cause: There are not enough CHANNELs to continue motion.
Remedy: Cycle power on the controller to increase number of CHANNELs automatically.
Alternatively, manually adjust $cp_paramgrp[].$num_chn and cycle power for the changes to take
effect.
________________________________________________________________
CPMO-059 SYSTEM Cycle power: JBFSETs (G: %d^2)
Cause: There are not enough JBFSETs to continue motion.
Remedy: Cycle power on the controller to increase number of JBFSETs automatically. Alternatively,
manually adjust $cp_paramgrp[].$num_jbfset and cycle power for the changes to take effect.
________________________________________________________________
CPMO-060 SYSTEM Cycle power: JBFs (G: %d^2)
Cause: There are not enough JBFs to continue motion.
Remedy: Cycle power on the controller to increase number of JBFs automatically. Alternatively,
manually adjust $cp_paramgrp[].$num_jbf and cycle power for the changes to take effect.
________________________________________________________________
CPMO-061 SYSTEM Cycle power: TFs (G: %d^2)
Cause: There are not enough time filters to continue motion.
Remedy: Cycle power on the controller to increase the number of TFs automatically.
________________________________________________________________
CPMO-062 SYSTEM Cycle power: RSINFOs (G: %d^2)
Cause: There are not enough RSINFOs to continue motion.
Remedy: Cycle power on the controller to increase number of RSINFOs automatically. Alternatively,
manually adjust $cp_paramgrp[].$num_rsinfo and cycle power for the changes to take effect.
________________________________________________________________
CPMO-063 SYSTEM MAINCHN is NULL (G: %d^2)
Cause: Internal Error: Main Channel is NULL
Remedy: Perform a Cold start:
1. Turn off the robot.
2. On the teach pendant, press and hold the SHIFT and RESET keys.
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
________________________________________________________________
CPMO-064 SYSTEM MAINCHN is Unknown (G: %d^2)
Cause: Internal Error: Main Channel is neither JBF nor JF
Remedy: Press RESET. If the error is not cleared, document the events that led to the error and call
your FANUC Robotics technical representative.
________________________________________________________________
CPMO-065 STOP Need Abort:GmSTOPPOS MisSyn
Cause: Internal Error: At resume stoppos mis-synch among groups
Remedy: ABORT and move the robot to a safe position or Backward one line to avoid the same error
message. NOTE: (1) When this error message is posted, the system no longer maintains constant
path (path would change) at resume (2) If you ABORT the program, then the cursor will not stay at
the same line of the program and you may lose the track of your programs (3) To track the cursor
position, you can move the robot backward one motion line by pressing BWD key and then resume
the motion (4) Move the robot to a safe position before resuming the motion and watch the path
closely at resume to avoid any collision and damage.
________________________________________________________________
CPMO-066 STOP Need Abort:GmRSType MisSyn
Cause: Resume_type mis-synch among groups.
Remedy: ABORT and move the robot to a safe position or Backward one line to avoid the same error
message NOTE: (1) When this error message is posted, the system no longer maintains a constant
path (path would change) at resume (2) If you ABORT the program, then the cursor will not stay at
the same line of the program and you might lose the track of your programs (3) To track the cursor
position, one can move the robot backward one motion line by pressing BWD key and then resume the
motion (4) Move the robot to a safe position before resuming the motion and watch the path closely
at resume to avoid any collision and damage.
________________________________________________________________
CPMO-067 STOP Need Abort:GmRsInfo Mismatch
Cause: Number of rsinfo mismatches among groups.
Remedy: ABORT and move the robot to a safe position or backward one line to avoid the same error
message. NOTE: (1) When this error message is posted, the system no longer maintains the constant
path (path would change) at resume (2) If you ABORT the program, then the cursor will not stay at
the same line of the program and you might lose the track of your programs (3) To track the cursor
position, one can move the robot backward one motion line by pressing BWD key and then resume
the motion (4) Move the robot to a safe position before resume the motion and watch path closely
at resume to avoid any collision and damage.
________________________________________________________________
CPMO-069 STOP Step mode enabled (G: %d^2)
Cause: Step mode was enabled after a constant path hold. The path will vary from normal motion
path.
Remedy: None. This is normal behavior.
________________________________________________________________
CPMO-070 ABORT Channel not empty (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-071 ABORT Channel not main (G: %d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-072 STOP Need Abort:PathChanged(G:%d^2)
Cause: The resume motion cannot continue on a constant path.
Remedy: ABORT and move the robot to a safe position or Backward one line to avoid the same error
message NOTE: (1) When this error message is posted, the system no longer maintains a constant
path (path would change) at resume (2) If you ABORT the program, then the cursor will not stay at
the same line of the program and you might lose the track of your programs (3) To track the cursor
position, one can move the robot backward one motion line by pressing BWD key and then resume
the motion (4) Move the robot to a safe position before resuming the motion and watch path closely
at resume to avoid any collision and damage.
________________________________________________________________
CPMO-073 STOP Need Abort:PathChanged(G:%d^2)
Cause: The resume motion cannot continue on a constant path.
Remedy: ABORT and move the robot to a safe position or backward one line to avoid the same error
message NOTE: (1) When this error message is posted, the system no longer maintains a constant
path (path would change) at resume (2) If you ABORT the program, then the cursor will not stay at
the same line of the program and you might lose the track of your programs (3) To track the cursor
position, one can move the robot backward one motion line by pressing BWD key and then resume
the motion (4) Move the robot to a safe position before resuming the motion and watch path closely
at resume to avoid any collision and damage.
________________________________________________________________
CPMO-074 WARN Can’t resume blend path (G: %d^2)
Cause: Hold and resume motion cannot occur on a constant path when there is blending between
different filter types.
Remedy: Use the Jerk Blending Filter Type for all motion segments.
________________________________________________________________
CPMO-075 WARN %s
Cause: This is only a warning.
Remedy: None.
________________________________________________________________
CPMO-076 WARN Can’t resume same path (G: %d^2)
Cause: Resume motion cannot continue on a constant path. This error is posted by CP INTR during
deceleration.
Remedy: Press RESET and cycle start to continue. The path might deviate from the normal path.
________________________________________________________________
CPMO-077 WARN Can’t resume same path (G: %d^2)
Cause: The resume motion cannot continue on a constant path.
Remedy: Perform a Cold start:
1. Turn off the robot.
2. On the teach pendant, press and hold the SHIFT and RESET keys.
3. While still pressing the SHIFT and RESET keys, turn on the robot. The path might deviate
from the normal path.
________________________________________________________________
CPMO-078 WARN Seg Overrun (G: %d^2)
Cause: The system is ready to start next segment, but none are available. The path might deviate
from the normal path. The segment might be delayed by processor loading or by statements that
prevent pre-execution, such as WAIT or BREAK.
Remedy: Increase the ITP time if the processor loading is high. The alarm can be disabled by setting
$cp_paramgrp[].$warnmessenb = FALSE.
________________________________________________________________
CPMO-079 WARN Preplan fail (G: %d^2)
Cause: The system is ready to start the next segment, but planning was cancelled. The path might
deviate from the normal path.
Remedy: Press RESET and cycle start the controller to continue. The path might deviate from
the normal path.
________________________________________________________________
CPMO-080 SERVO2 EXTChannel not empty (G:%d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-081 SERVO2 EXT JBFSet not empty (G:%d^2)
Cause: An Internal INTR error. This class of error should not be encountered during normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-082 SERVO2 EXT JBF not empty (G:%d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-083 SERVO2 EXT JBF len mismatch (G:%d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
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CPMO-085 SERVO2 EXT JBF NULL PTR (G:%d^2)
Cause: An Internal INTR error has occurred. This class of error should not be encountered during
normal operation.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-086 SYSTEM Cycle power: EXT JBFs (G:%d^2)
Cause: There are not enough EXTJBFs to continue motion.
Remedy: Cycle power on the controller to increase number of EXT JBFs automatically. Alternatively,
manually adjust $cp_paramgrp[].$ext_num_jbf and cycle power to take effect.
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CPMO-087 ABORT EXT pt.valid.ext=0 (G:%d^2)
Cause: Internal error: EXT pt.valid.ext=0
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-090 ABORT Invalid MainChn ID (G: %d^2)
Cause: Internal Error: Main Channel Id is invalid.
Remedy: The system might have been corrupted. This might have been caused by any of a number
of reasons including: Incorrect loading and setup loading incompatible options, mixing software
version when adding options and other memory corruption problems. The following is a list of
possible remedies:
1. Perform a Cold start.
2. Perform an Init start and set up the robot again
3. Confirm that any options or additional software not on the original software distribution media
is the same version number. If the main system software was supplied on several disks or
memory cards, make sure that you are using a matched set. Also make sure that the installation
manual being used is for this version of software. If any of the software version are not matched,
a complete re-load with the correct software will be necessary.
4. Confirm that no incompatible or mutually exclusive options have been loaded.
5. Perform a full software reload.
6. If the error is not cleared, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-091 ABORT Invalid JBF MainChn ID (G: %d)
Cause: Internal Error: JBF Main Channel Id is invalid
Remedy: Press RESET. If the error is not cleared, document the events that led to the error and call
your FANUC Robotics technical representative.
________________________________________________________________
CPMO-092 ABORT JF NewLastAng Mismatch (G: %d^2)
Cause: Internal Error: JF new last angles are incorrect
Remedy: Press RESET. If the error is not cleared, document the events that led to the error and call
your FANUC Robotics technical representative.
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CPMO-093 ABORT JB NewLastAng Mismatch (G: %d^2)
Cause: Internal Error: JF filter new last angles mismatch
Remedy: Press RESET. If the error still exists, document the events that led to the error and call
your FANUC Robotics technical representative.
________________________________________________________________
CPMO-094 ABORT Invalid JBF New ChnId (G: %d^2)
Cause: Internal Error: JBF new main channel id is invalid
Remedy: Press RESET. If the error still occurs, document the events that led to the error and call
your FANUC Robotics technical representative.
________________________________________________________________
CPMO-095 SERVO Too Large Jnt Cmd (G:%d A:%d)
Cause: The motion command exceeds joint velocity, acceleration, or jerk limits.
Remedy: Increase $cp_paramgrp[].$jnt_vel_lim[], $cp_paramgrp[].$jnt_acc_lim[], or
$cp_paramgrp[].$jnt_jrk_lim[] for the affected group and axis. Abort the program and trythe
operation again. If the alarm persists, document the events that led to the error and call your FANUC
Robotics technical representative.
________________________________________________________________
CPMO-096 SERVO Error: ChnNewAng (G: %d^2)
Cause: The motion command is too large.
Remedy: Abort the program and try the operation again. Document the events that led to the error
and call your FANUC Robotics technical representative.
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CPMO-100 WARN Forward Resume Offset (G: %d^2)
Cause: CP does not support forward resume offset.
Remedy: Use backward resume offset only.
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CPMO-101 WARN Rsm Ofst Buffer Limit (G: %d^2)
Cause: Could not reach the desired resume offset because the distance exceeded the available time
buffer.
Remedy: Try the following:
• Reduce resume offset.
• Increase move speed.
• Increase the JBF size.
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CPMO-103 WARN Resume Offset Gp Limit (G: %d^2)
Cause: Could not reach the desired resume offset because the offset was limited by another group.
Remedy: Try the following:
• Remove the limitation on the other group.
• Reduce the resume offset.
• Increase the move speed.
• Increase te JBF size.
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CPMO-104 WARN Resume prior Offset (G: %d^2)
Cause: A prior resume offset position was reused because a second hold occurred before the prior
stop position was reached. This occurred during the resume motion.
Remedy: None. This prevents indefinite resume offsets with repeated hold/resume.
________________________________________________________________
CPMO-105 WARN Rsm Ofst Coord Sync Fail G: %d^2
Cause: The coordinated groups for resume offset could not be synchronized. The path might deviate
from the taught positions.
Remedy: None.
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CPMO-130 STOP T1 speed > 250 (G: %d^2)
Cause: T1 speed exceeds 250 mm/sec for this group.
Remedy: Document the events that led to the error, and call your FANUC Robotics technical
representative.
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CPMO-135 STOP NO CR allowed in this region
Cause: Corner Region is not allowed in this block.
Remedy: Remove Corner Region and use CNT.
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CPMO-136 STOP NO PSPD allowed in this region
Cause: Process Speed is not allowed in this application block.
Remedy: Remove the PSPD (Process Speed) option.
________________________________________________________________
CPMO-137 STOP NO mspd allowed in this region
Cause: max_speed is not allowed in this application block.
Remedy: Change the max_speed to mm/sec.
________________________________________________________________
CPMO-138 STOP NO LD allowed in this region
Cause: AP_LD and RT_LD are not allowed in this application block.
Remedy: Remove the AP_LD or RT_LD option.