Code CPMO-095: Too Large Jnt Cmd (G: i A: j)

Cause: A very large axis speed which may exceed the safety limit was detected. i indicates the group number and j indicates the axis number in which this error was detected. Remedy: (1) Axis speed can become very high during linear or circular motion which satisfies at least one of the following conditions; - TCP travels near singular point. - Tool posture changes largely. For a remedy, modify the motion instruction as below so that this axis gets slower during this motion; 1. Divide the motion into two instructions using a mid point which is away from the singular point, or/and 2. Decrease the speed (feed rate) of the motion instruction, or 3. Change the motion format to J (Joint motion). (2) If the remedy (1) does not resolve this alarm, please get a diagnostic log and image backup just after the alarm occurred, document the events that led to the error, and call your local FANUC representative.