What causes FANUC alarm 5199?

Machine system or function indicated by the alarm name has detected a fault. Control parameter or configuration error related to the alarm condition. Hardware component fault on the CNC or machine. Part program error or illegal operation for the indicated function. Machine interlock or safety condition not satisfied.

How do I fix FANUC alarm 5199?

1. Note the alarm number and check the Fanuc alarm screen for any sub-code or additional details. 2. Identify the specific machine system or function from the alarm name. 3. Power cycle the machine to clear transient faults. 4. Consult the Fanuc parameter or operator manual for alarm 5199 specific remedy. 5. Contact Fanuc service if the alarm persists after basic troubleshooting.

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FANUC Controller

Servo/Axis · Advanced · 45-90 minutes

Alarm 5199

Fanuc Alarm 5199 - FINE TORQUE SENSING PARAMETER

Fanuc alarm 5199 indicates a configuration error with the fine torque sensing parameters on one or more servo axes. This occurs when fine torque sensing is enabled but the related parameters are incorrectly set, incompatible with the servo amplifier model, or the servo software does not support the fine torque sensing function.

FANUCServo/AxisAdvanced45-90 minutes

5199

Fanuc Alarm 5199 - FINE TORQUE SENSING PARAMETER

SYSTEM ALARM 5199

Root Cause Summary

Fanuc alarm 5199 indicates a configuration error with the fine torque sensing parameters on one or more servo axes. This occurs when fine torque sensing is enabled but the related parameters are incorrectly set, incompatible with the servo amplifier model, or the servo software does not support the fine torque sensing function.

Causes and Fixes

1
Navigate to SYSTEM > PARAM and check parameter 2020 bit 0 (FTSx) for each axis to verify which axes have fine torque sensing enabled.
2
Check parameters 2181 (fine torque sensing detection gain), 2182 (fine torque sensing filter time constant), 2183 (fine torque sensing offset), and 2184 (fine torque sensing delay time) for each affected axis. Verify values match servo amplifier specifications in the servo motor parameter manual.
3
Cross-reference servo amplifier model (check DIAGNOSIS > SERVO > SERIAL on affected axis) to confirm it supports fine torque sensing. αi series amplifiers with -B suffix typically support this function.
4
If parameters are incorrect or amplifier does not support fine torque sensing, set parameter 2020 bit 0 (FTSx) = 0 to disable fine torque sensing, then cycle power and clear alarm.
Disabling fine torque sensing will affect any functions relying on it such as advanced collision detection or AI contour control.

DIY Feasiblemedium confidence

Call a technician if:

·Amplifier hardware failure suspected
·Encoder replacement required
·Mechanical repairs needed
·Parameter corruption persists after multiple resets

Prevention

Regular encoder battery replacement
Scheduled mechanical lubrication
Parameter backup before modifications
Monitor servo load rates during operation

Common Mistakes

Modifying torque sensing parameters without motor specifications
Ignoring mechanical issues when focusing on parameters
Not performing proper calibration after parameter changes
Mixing servo components from different generations

Related Alarms

401 402 414 435 5198 5200

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