FANUC 21 Alarms

Fanuc 21 Alarms, Faults & Error Codes

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Program Errors/ Alarms on Program and Operation P/S Alarms

Alarm Code Type
000 PLEASE TURN OFF POWER
001 TH PARITY ALARM
002 TV PARITY ALARM
003 TOO MANY DIGITS
004 ADDRESS NOT FOUND
005 NO DATA AFTER ADDRESS
006 ILLEGAL USE OF NEGATIVE SIGN
007 ILLEGAL USE OF DECIMAL POINT
009 ILLEGAL ADDRESS INPUT
010 IMPROPER G–CODE
011 NO FEEDRATE COMMANDED
014 CAN NOT COMMAND G95 (M series)
014 ILLEGAL LEAD COMMAND (T series)
015 TOO MANY AXES COMMANDED (M series)
015 TOO MANY AXES COMMANDED (T series)
020 OVER TOLERANCE OF RADIUS
021 ILLEGAL PLANE AXIS COMMANDED
022 NO CIRCLE RADIUS
023 ILLEGAL RADIUS COMMAND (T series)
025 CANNOT COMMAND F0 IN G02/G03 (M series)
027 NO AXES COMMANDED IN G43/G44 (M series)
028 ILLEGAL PLANE SELECT
029 ILLEGAL OFFSET VALUE (M series)
029 ILLEGAL OFFSET VALUE (T series)
030 ILLEGAL OFFSET NUMBER (M series)
030 ILLEGAL OFFSET NUMBER (T series)
031 ILLEGAL P COMMAND IN G10
032 ILLEGAL OFFSET VALUE IN G10
033 NO SOLUTION AT CRC (M series)
033 NO SOLUTION AT CRC (T series)
034 NO CIRC ALLOWED IN ST–UP /EXT BLK (M series)
034 NO CIRC ALLOWED IN ST–UP /EXT BLK (T series)
035 CAN NOT COMMANDED G31 (T series)
036 CAN NOT COMMANDED G31 (M series)
037 CAN NOT CHANGE PLANE IN CRC (M series)
037 CAN NOT CHANGE PLANE IN NRC (T series)
038 INTERFERENCE IN CIRCULAR BLOCK (M series)
038 INTERFERENCE IN CIRCULAR BLOCK (T series)
039  CHF/CNR NOT ALLOWED IN NRC (T series)
040 INTERFERENCE IN G90/G94 BLOCK (T series)
041 INTERFERENCE IN CRC (M series)
041 INTERFERENCE IN NRC (T series)
042 G45/G48 NOT ALLOWED IN CRC (M series)
044 G27–G30 NOT ALLOWED IN FIXED CYC (M series)
046 ILLEGAL REFERENCE RETURN COMMAND
050 CHF/CNR NOT ALLOWED IN THRD BLK (M series)
050 CHF/CNR NOT ALLOWED IN THRD BLK(T series)
051 MISSING MOVE AFTER CHF/CNR (M series)
 051 MISSING MOVE AFTER CHF/CNR (T series)
 052 CODE IS NOT G01 AFTER CHF/CNR (M series)
 052 CODE IS NOT G01 AFTER CHF/CNR (T series)
 053 TOO MANY ADDRESS COMMANDS (M series)
 053 TOO MANY ADDRESS COMMANDS (T seires)
 054 NO TAPER ALLOWED AFTER CHF/CNR (T series)
 055 MISSING MOVE VALUE IN CHF/CNR (M series)
 055 MISSING MOVE VALUE IN CHF/CNR (T series)
 056 NO END POINT & ANGLE IN CHF/CNR (T series)
 057 NO SOLUTION OF BLOCK END (T series)
 058 END POINT NOT FOUND (M series)
 058 END POINT NOT FOUND (T series)
 059 PROGRAM NUMBER NOT FOUND
 60 SEQUENCE NUMBER NOT FOUND
 61 ADDRESS P/Q NOT FOUND IN G70–G73 (T series)
 62 ILLEGAL COMMAND IN G71–G76 (T series)
 63 SEQUENCE NUMBER NOT FOUND (T series)
 64 SHAPE PROGRAM NOT MONOTONOUSLY (T series)
 65 ILLEGAL COMMAND IN G71–G73 (T series)
 66 IMPROPER G–CODE IN G71–G73 (T series)
 67 CAN NOT ERROR IN MDI MODE (T series)
 69 FORMAT ERROR IN G70–G73 (T series)
 70 NO PROGRAM SPACE IN MEMORY
 71 DATA NOT FOUND
 72 TOO MANY PROGRAMS
 73 PROGRAM NUMBER ALREADY IN
 74 ILLEGAL PROGRAM NUMBER
 75 PROTECT
 76 ADDRESS P NOT DEFINED
 77 SUB PROGRAM NESTING ERROR
 78 NUMBER NOT FOUND
 79 PROGRAM VERIFY ERROR
 80 G37 ARRIVAL SIGNAL NOT ASSERTED (M series)
 80 G37 ARRIVAL SIGNAL NOT ASSERTED (T series)
 81 OFFSET NUMBER NOT FOUND IN G37 (M series)
 81 OFFSET NUMBER NOT FOUND IN G37 (T series)
 82 H–CODE NOT ALLOWED IN G37 (M series)
 82 T–CODE NOT ALLOWED IN G37 (T series)
 83 ILLEGAL AXIS COMMAND IN G37 (M series)
 83 ILLEGAL AXIS COMMAND IN G37 (T series)
 85 COMMUNICATION ERROR
 86 DR SIGNAL OFF
 87 BUFFER OVERFLOW
 90 REFERENCE RETURN INCOMPLETE
 91  REFERENCE RETURN INCOMPLETE
 92  AXES NOT ON THE REFERENCE POINT
 94  P TYPE NOT ALLOWED (COORD CHG)
 95 P TYPE NOT ALLOWED (EXT OFS CHG)
 96  P TYPE NOT ALLOWED (WRK OFS CHG)
 97  P TYPE NOT ALLOWED (AUTO EXEC)
 98  G28 FOUND IN SEQUENCE RETURN
 99 MDI EXEC NOT ALLOWED AFT. SEARCH
 100  PARAMETER WRITE ENABLE
101 PLEASE CLEAR MEMORY
110 DATA OVERFLOW
111 CALCULATED DATA OVERFLOW
112 DIVIDED BY ZERO
113 IMPROPER COMMAND
114 FORMAT ERROR IN MACRO
115 ILLEGAL VARIABLE NUMBER
116 WRITE PROTECTED VARIABLE
118 PARENTHESIS NESTING ERROR
119 ILLEGAL ARGUMENT
122 FOUR FOLD MACRO MODAL–CALL
123 CAN NOT USE MACRO COMMAND IN DNC
124 124 MISSING END STATEMENT
125 125 FORMAT ERROR IN MACRO
126 ILLEGAL LOOP NUMBER
127 NC, MACRO STATEMENT IN SAME BLOCK
128 ILLEGAL MACRO SEQUENCE NUMBER
129 ILLEGAL ARGUMENT ADDRESS
130 ILLEGAL AXIS OPERATION
131 TOO MANY EXTERNAL ALARM MESSAGES
132 132 ALARM NUMBER NOT FOUND
133 ILLEGAL DATA IN EXT. ALARM MSG
135 ILLEGAL ANGLE COMMAND (M series)
135 135 SPINDLE ORIENTATION PLEASE (T series)
136 ILLEGAL AXIS COMMAND (M series)
136 C/H–CODE & MOVE CMD IN SAME BLK. (T series)
137 M–CODE & MOVE CMD IN SAME BLK.
139 CAN NOT CHANGE PMC CONTROL AXIS
141 CAN NOT COMMAND G51 IN CRC (M series)
142 ILLEGAL SCALE RATE (M series)
143 SCALED MOTION DATA OVERFLOW (M series)
144 ILLEGAL PLANE SELECTED (M series)
145 ILLEGAL CONDITIONS IN POLAR COORDINATE INTERPOLATION
146 IMPROPER G CODE
148 ILLEGAL SETTING DATA (M series)
149 FORMAT ERROR IN G10L3 (M series)
150 ILLEGAL TOOL GROUP NUMBER
151 TOOL GROUP NUMBER NOT FOUND
152 NO SPACE FOR TOOL ENTRY
153 T–CODE NOT FOUND
154 NOT USING TOOL IN LIFE GROUP (M series)
155 ILLEGAL T–CODE IN M06 (M series)
155 ILLEGAL T–CODE IN M06 (T series
156 P/L COMMAND NOT FOUND
157 TOO MANY TOOL GROUPS
158 ILLEGAL TOOL LIFE DATA
159 TOOL DATA SETTING INCOMPLETE
175 ILLEGAL G107 COMMAND
176 IMPROPER G–CODE IN G107 (T series)
177 CHECK SUM ERROR (G05 MODE)
178 G05 COMMANDED IN G41/G42 MODE
179 PARAM. (NO. 7510) SETTING ERROR
180 COMMUNICATION ERROR (REMOTE BUF)
190 ILLEGAL AXIS SELECT (M series)
194 SPINDLE COMMAND IN SYNCHRO–MODE
195 MODE CHANGE ERROR
197 C–AXIS COMMANDED IN SPINDLE MODE
199 MACRO WORD UNDEFINED
200 ILLEGAL S CODE COMMAND
201 FEEDRATE NOT FOUND IN RIGID TAP
202 2 POSITION LSI OVERFLOW
203 PROGRAM MISS AT RIGID TAPPING
204 ILLEGAL AXIS OPERATION
205  RIGID MODE DI SIGNAL OFF
206 CAN NOT CHANGE PLANE (RIGID TAP) (M series)
210 CAN NOT COMMAND M198/M199
211 G31 (HIGH) NOT ALLOWED IN G99
212 ILLEGAL PLANE SELECT (M series)
212 ILLEGAL PLANE SELECT (T series)
213 ILLEGAL COMMAND IN SYNCHRO–MODE
214 ILLEGAL COMMAND IN SYNCHRO–MODE
217 DUPLICATE G51.2 (COMMANDS) (T series)
218 NOT FOUND P/Q COMMAND IN G251 (T series)
219 COMMAND G250/G251 INDEPENDENTLY (T series)
220 ILLEGAL COMMAND IN SYNCHR–MODE (T series)
221 ILLEGAL COMMAND IN SYNCHR–MODE (T series)
224 RETURN TO REFERENCE POINT (M series)
224 RETURN TO REFERENCE POINT (T series)
231 ILLEGAL FORMAT IN G10 OR L50
233 DEVICE BUSY
239 BP/S ALARM
240 BP/S ALARM
244 P/S ALARM (T series)
245 T–CODE NOT ALOWEE IN THIS BLOCK (T series)
253 G05 IS NOT AVAILABLE (M series)
5010 END OF RECORD
5014 TRACE DATA NOT FOUND (M series)
5020 PARAMETER OF RESTART ERROR
5030 ILLEGAL COMMAND (G100) (T series)
5031 ILLEGAL COMMAND (G100, G102, G103) (T series)
5032 NEW PRG REGISTERED IN B–AXS MOVE (T series)
5033 NO PROG SPACE IN MEMORY B–AXS (T series)
5034 PLURAL COMMAND IN G110 (T series)
5035 NO FEEDRATE COMMANDED B–AXS (T series)
5036 ADDRESS R NOT DEFINED IN G81–G86 (T series)
5037 ADDRESS Q NOT DEFINED IN G83 (T series)
5038 TOO MANY START M–CODE COMMAND (T series)
5039 START UNREGISTERED B–AXS PROG (T series)
5040 CAN NOT COMMANDED B–AXS MOVE (T series)
5041 CAN NOT COMMANDED G110 BLOCK (T series)
5044 G68 FORMAT ERROR (M series)
5074 ADDRESS DUPLICATION ERROR

 

Background Edit Alarms

Alarm Code Type Description of Alarm/Error
??? BP/S alarm BP/S alarm occurs in the same number as the P/S alarm that occurs in ordinary program edit ( 070, 071, 072, 073, 074, 085, 086, 087 etc)
140 BP/S alarm It was attempted to select or delete in the background a program being selected in the foreground. (Note)

Note: Alarm in background edit is displayed in the key input line of the background edit screen instead of the ordinary alarm screen and is resettable by any of the MDI key operation.

 

Absolute Pulse Code (APC) Alarms

Alarm Code Type Description of Alarm/Error
300 nth-axis origin return Manual reference position is required for the nth-axis.(n=1-8)
301 APC alarm: nth axis communication nth- axis communication error. (n=1-4)Failure in data transmission.
302 APC alarm: nth axis over time nth- axis (n=1-4) APC overtime error.
303 APC alarm: nth axis framing nth- axis (n=1-4) APC overtime error. Failure in data transmission.
304 APC alarm: nth axis parity nth- axis (n=1-4) APC Paraity error. Failure in data transmission.
305 APC alarm: nth axis pulse error nth- axis (n=1-4) APC pulse error alarm.
306 APC alarm: ntha xis battery voltage 0 nth- axis A(n=1-4) PC battery voltage has decreased to a low level so that data cannot be held.
307 APC alarm: nth axis battery low 1 nth- axis (n=1-4) axis APC battery voltage reached a level where the battery must be renewed
308 APC alarm: nth axis battery low 2 nth- axis (n=1-4) APC battery voltage reached a level where the battery must be renewed( including when power is OFF)
309 APC ALARM: n AXIS ZRN IMPOSSIBLE An attempt was made to perform reference position return without rotating the motor through one or more turns.

 

Serial Pulse Coder (SPC) Alarms

Alarm Code
 Type Description of Alarm/Error
350 SPC ALARM: n AXIS PULSE CODER The n axis (axis 1-4) pulse coder has fault.
351 SPC ALARM: n AXIS COMMUNICATION n axis (axis 1-4) serial pulse coder communication error.

 

Servo Alarms

Alarm Code Type Description of Alarm/Error
400 SERVO ALARM: n-TH AXIS OVERLOAD The n-th axis ( axis 1-4) overload signal is on.
401 SERVO ALARM:  n-TH AXIS VRDY OFF The n-th axis ( axis 1-4) servo amplifier READY signal went off.
404 SERVO ALARM: n-TH AXIS VRDY ON Even though the n-th axis ( axis 1-4) READY signal ( MCON) went off, the servo amplifier READY signal (DRDY) is still on. Or, when the power was turned on, DRDY went on even though MCON was off.
405 SERVO ALARM: ZERO POINT RETURN FAULT Position control system fault. Due to an NC or servo system fault in the reference position return, there is the possibility that the reference position return could not be executed correctly.
407 SERVO ALARM:EXCESS ERROR The difference in synchronous axis position deviation exceeded the set value.
409 TORQUEALM: EXCESS ERROR An abnormal load on the servo motor was detected. Alternatively an abnormal load on the spindle motor was detected in Cs mode.
410 SERVO ALARM: n-th AXIS EXCESS ERROR The position deviation value when  the  n-th axis (axis 1-4) stops is larger than the set value.
411 SERVO ALARM: n-TH AXIS EXCESS ERROR The position deviation value when  the  n-th axis (axis 1-4) moves is larger than the set value.
413 SERVO ALARM: n-TH AXIS- LSI OVERFLOW The contents of the error register for the n-th axis (axis 1-4) are beyond the range of    to    . This error usually occurs as the result of improperly set parameters.
414 SERVO ALARM: n-TH AXIS -DETECTION RELATED ERROR N-th axis (axis 1-4_ digital servo system fault.
415 SERVO ALARM: n-TH AXIS-EXCESS SHIFT A speed higher than 511875 unit/s was attempted to be set in the n-th axis ( axis 1-4). This error occurs as the result of improperly set CMR.
416 SERVO ALARM: n-TH AXIS-DISCONNECTION Position detection system fault in the n-th axis ( axis 1-4) pulse coder ( disconnection alarm).
417 SERVO ALARM: n-TH AXIS-PARAMETER INCORRECT This alarm occurs when the n-th axis ( axis 1-4) is in one of the conditions below: ( Digital servo system alarm)

  1. The value set in Parameter no 20200 (motor form) is out of the specified limit.
  2.  A proper value ( 111 or -111) is not set in parameter no 2022.( motor revolution direction).
  3. Illegal data ( a value below 0, etc) was set in parameter No 2023 ( number of speed feedback pulses per motor revolution)
  4. Illegal data ( a value below 0, etc) was set in parameter No 2024 ( number of speed feedback pulses per motor revolution)
  5. Parameters No. 2084 and No. 2085 (flexible field gear rate) have not been set.
  6. A value outside the limit of {1 to the number of control axes) or a non continuous value ( parameter 1023( servo axis number) contains a value out of the range from 1 to the number or axes, or an isolated value ( for example 4, not preceeded by 3). was set in parameter No. 1023 ( servo axis number)
420 SYNC TORQUE@ EXCESS ERROR When simple synchronous control is applied, the torque command difference between the master and slave axes exceeded the value set in parameter No. 2031.
421 EXCESS ER(D)’: EXCESS ERROR When the dual position feedback function is being applied, an excessive difference was detected between a semi-closed lopp and closed loop error.
422 EXCESS ER(D)’: SPEED ERROR  The specified allowable speed has been exceeded while torque control for the PMC axis control is applied.
423 EXCESS ER(D)’: EXCESS ERROR  The allowable total amount of travel, set in a parameter has been exceeded while torque control for the PMC axis control is applied.

Overtravel Alarms

Alarm Code Type Description of Alarm/Error
500  OVER TRAVEL: +n  Exceeded the n-th axis + side stored stroke limit I.

(Parameter NO 1320 or 1326)
501  OVER TRAVEL: -n  Exceeded the n-th axis _ side stored stroke limit I.

(Parameter NO 1321 or 1327)
502  OVER TRAVEL: +n  Exceeded the n-th axis + side stored stroke limit II.

(Parameter NO 1322)
503  OVER TRAVEL:  -n  Exceeded the n-th axis _ side stored stroke limit II.

(Parameter NO 1323)
504  OVER TRAVEL: +n  Exceeded the n-th axis + side stored stroke limit III.

(Parameter NO 1324)
505  OVER TRAVEL: -n  Exceeded the n-th axis _ side stored stroke limit III.

(Parameter NO 1325)
506  OVER TRAVEL: +n  Exceeded the n-th axis + side hardware OT
507  OVER TRAVEL: -n  Exceeded the n-th axis _ side hardware OT

Overheat Alarms

Alarm Code Type Description of Alarm/Error
700 OVERHEAT: CONTROL UNIT Control unit overheat
701 OVERHEAT: FAN MOTOR The fan motor on top of the cabinet for the control unit is overheated
704 OVERHEAT: SPINDLE Spindle overheat in the spindle fluctuation detection.

 

Rigid Tapping Alarms

Alarm Code Type Description of Alarm/Error
740 RIGID TAP ALARM: EXCESS ERROR The positional deviation of the stopped spindle has exceeded the set value during rigid tapping.
741 RIGID TAP ALARM: EXCESS ERROR The positional deviation of the moving spindle has exceeded the set value during rigid tapping.
742 RIGID TAP ALARM: LSI OVERFLOW An LSI overflow has occurred for the spindle during rigid tapping.

 

Serial Spindle Alarms

Alarm Code Type Description of Alarm/Error
749  S SPINDLE LSI ERROR  It is serial communication error while system is executing after power supply on.
750  SPINDLE SERIAL LINK START FAULT  This alarm is generated when the spindle control unit is not ready for starting correctly when the power is turned on in the system with the serial spindle.
751 FIRST SPINDLE ALARM DETECTION ( AL-XX)  This alarm indicates in the NC that an alarm is generated in the spindle unit of the system with serial spindle.
752 FIRST SPINDLE MODE CHANGE FAULT  This alarm is generated if the system does not properly terminate a mode change.
754 SPINDLE 1 ABNORMAL TORQUE ALARM  Abnormal first spindle motor load has been detected.
761 SECOND SPINDLE ALARM DETECTION (AL-XX)  Refer to alarm No 751 for 2nd axis.
762  SECOND SPINDLE MODE CHANGE FAULT  Refer to alarm No 752 for 2nd axis.
764 SPINDLE 2 ABNORMAL TORQUE ALARM  Refer to alarm No 754 for 2nd spindle

 

System Alarms

Alarm Code Type Description of Alarm/Error
900 ROM PARITY  F-ROM parity error in a ROM file ( control software), such as CNC macro, or digital servo. The F-ROM module may be defective.
910 DRAM PARITY: (Low) For an SRAM parity error, initialise the memory. If the error subsequently recurs, or in the case  of a DRAM parity error, replace RAM module. Subsequently set the parameters and all other data again.
911 DRAM PARITY: (High) For an SRAM parity error, initialise the memory. If the error subsequently recurs, or in the case  of a DRAM parity error, replace RAM module. Subsequently set the parameters and all other data again.
912 SRAM PARITY: (Low) For an SRAM parity error, initialise the memory. If the error subsequently recurs, or in the case  of a DRAM parity error, replace RAM module. Subsequently set the parameters and all other data again.
913 SRAM PARITY: (High) For an SRAM parity error, initialise the memory. If the error subsequently recurs, or in the case  of a DRAM parity error, replace RAM module. Subsequently set the parameters and all other data again.
920 SERVO ALARM (1/2 AXIS) Servo alarm (1st or 2nd axis). A watchdog alarm or a RAM parity error in the servo module occured.
921 SERVO ALARM (3/4 AXIS) Servo alarm (3rd or 4th axis). A watchdog alarm or a RAM parity error in the servo module occured.
924 SERVO MODULE SETTING SERROR The digital servo module is not installed. Check that the servo control module or servo interface module on the main board is mounted securely.
930 CPU INTERRUPT CPU Error ( abnormal interrupt). The main board is faulty.
940 PCB ERROR PCB ID error. The main board or the memory module may be defective.
950 PMC SYSYTEM ALARM Fault occured in the PMC. The PMC control module on the main board or the RAM module may be defective.
971 NMI OCCURED IN SLC An alarm condition occured in the interface with an I/O unit. Check the connection between the PMC control module on the main board and the I/O unit. Also, check that the power of the I/O unit is on and that the interface module is operating normally.
972 NMI OCCURED IN OTHER MODULE NMI occured in a board other than the main board. The main board or the back panel may be defective.
973 NON MASK INTERRUPT NMI occured for an unknown reason. The printed board of the power unit or the main board may be defctive. Or there my be noise interference.
974 BUS ERROR Bus error. The main board may be defective