Fanuc alarm: PS626 - G68 FORMAT ERROR

A format error is found in G68 block. In any one of the following cases, this alarm is given. 1) When any one of the commands among I, J and K in the same block as G68 is not present (in the absence of coordinate rotation option). 2) When I, J and K in the same block are all 0. 3) When R is not designated in the same block as G68.