Code MOTN-220: Group motion resume mismatch
Issue Description & Safety Warning
The Fanuc R-30i Series Robot Controller has triggered a critical Group motion resume mismatch alarm. Immediate attention from a qualified operator or maintenance technician is required to prevent secondary damage to the equipment or spoiled parts during the manufacturing cycle. Always ensure standard safety and LOTO procedures are followed before accessing electrical cabinets.
Official Troubleshooting Steps
Cause: This group motion does not have consistent resume flag. Remedy: 1. Abort the program and continue from the same instruction line. Or perform backward execution on the same line, then continue the program. 2. When a motion instruction just before calling a program that has a different group mask is CNT term type, change term type from CNT to FINE. Or make the same group mask. 3. When a motion instruction just before returning a parent program that has a different group mask is CNT term type, change term type from CNT to FINE. Or make the same group mask.
Source: FANUC Robot R-30iA Alarm Code List Operator's Manual
Last reviewed: 2026-07-01 · Verified against the manufacturer’s official documentation.
About Fanuc R-30i Series Robot Controller Alarms
Fanuc controllers include extensive self-diagnostics that flag or halt the machine when a fault is detected. Error code MOTN-220 on the R-30i Series Robot Controller identifies one specific fault condition — its documented cause and the official corrective steps are listed above, sourced from Fanuc's service documentation. Always confirm against the manual for your exact machine configuration and follow LOTO procedures before servicing.
Complete Alarm List: 6553 Fanuc R-30i Series Robot Controller codes.
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