[Cause]
This alarm occurs when recovery motion cannot maintain the original path. For example, it may occur when the program is edited while paused and then restarted.
[Countermeasure]
Reset the alarm and execute backward motion.
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Note: During backward motion, the robot moves toward the point of the motion line immediately before the line where the cursor is stopped on the editing screen. In some cases, the robot may move forward. Exercise care during backward motion to avoid interference with surrounding equipment.
If backward motion does not clear the alarm, or the alarm recurs, use the error state recording function (Error State Recording in the auxiliary menu) and obtain an image backup before performing other operations, such as turning off power or jogging, after this alarm occurs. Then contact the FANUC service center. If the recording function is unavailable, record the conditions and operating steps leading up to the alarm, obtain an image backup, and contact the service center.