Fanuc alarm: 213 - ILLEGAL COMMAND IN SYNCHRO-MODE

Movement is commanded for the axis to be synchronously controlled. Any of the following alarms occurred in the operation with the simple synchronization control. 1) The program issued the move command to the slave axis. 2) The program issued the manual continuous feed/manual handle feed/incremental feed command to the slave axis. 3) The program issued the automatic reference position return command without specifying the manual reference position return after the power was turned on. 4) The difference between the position error amount of the master and slave axes exceeded the value specified in parameter NO.8313.