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) The value set in Parameter no 20200 (motor form) is out of the specified limit. A proper value ( 111 or -111) is not set in parameter no 2022.( motor revolution direction). Illegal data ( a value below 0, etc) was set in parameter No 2023 ( number of speed feedback pulses per motor revolution) Illegal data ( a value below 0, etc) was set in parameter No 2024 ( number of speed feedback pulses per motor revolution) Parameters No. 2084 and No. 2085 (flexible field gear rate) have not been set. 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