Code TG-016: Bad Time Before in Sch%d^2 Ev%d^3
Issue Description & Safety Warning
The Fanuc R-30i Series Robot Controller has triggered a critical Bad Time Before in Sch%d^2 Ev%d^3 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: The indicate trigger schedule event in $TGSCHED[Sch] has an invalid value for time before. Remedy: The time before (or anticipator) value cannot be less than (i.e. more negative than) -100 msec. Check all anticipator values defined in the application to be sure none indicate a time after (i.e. negative time before) greater in magnitude than 100 msec.
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 TG-016 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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