Fanuc alarm: 417 - SERVO ALARM: n-TH AXIS -PARAMETER INCORRECT

This alarm occurs when the n-th axis (axis 1-8) is in one of the conditions listed below. (Digital servo system alarm) 1) The value set in Parameter No. 2020 (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.) - No. 2023 (number of speed feedback pulses per motor revolution). 4) Illegal data (a value below 0, etc.) - No. 2024 (number of position 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 of axes, or an isolated value (for example, 4 not prceded by 3).- No. 1023 (servo axisnumber).