What causes FANUC alarm 130?

PMC axis control was activated for an axis still in NC program control. Program attempted to move an axis currently assigned to PMC control without releasing it first. Axis assignment parameters conflict between NC and PMC control assignments. PMC ladder logic activated PMC axis control during NC program execution on the same axis. Multi-path configuration with incorrect axis assignment between paths and PMC.

How do I fix FANUC alarm 130?

1. Check PMC diagnostics to see if the axis in question has an active PMC axis control request. 2. Verify axis assignment parameters — an axis should be assigned to either NC or PMC control, not both. 3. If the axis needs to switch between NC and PMC control, ensure proper handshake and release sequence. 4. Review the PMC ladder logic for the axis control sequence to confirm it is not activating during NC motion. 5. Power cycle after correcting parameter conflicts to reinitialize axis assignment.

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FANUC Controller

Program/G-code · Intermediate · 15-30 minutes

Alarm 130

Fanuc Alarm 130 - NC AND PMC AXIS CONFLICTED

Fanuc Alarm 130 occurs when the CNC (NC) attempts to control an axis simultaneously with PMC (ladder) control, creating a command conflict. This typically happens when PMC axis control is active via ladder logic while an NC program tries to move the same axis, or when switching between control modes is not properly sequenced.

FANUCProgram/G-codeIntermediate15-30 minutes

130

Fanuc Alarm 130 - NC AND PMC AXIS CONFLICTED

NC AND PMC AXIS CONFLICTED

Root Cause Summary

Fanuc Alarm 130 occurs when the CNC (NC) attempts to control an axis simultaneously with PMC (ladder) control, creating a command conflict. This typically happens when PMC axis control is active via ladder logic while an NC program tries to move the same axis, or when switching between control modes is not properly sequenced.

Safety

Data not received

Causes and Fixes

1
Check DIAGNOSIS screen > PMC > Signal Status to verify G address signals controlling the affected axis. Look for G000-G003 (axis selection) and associated control signals that may still be active.
2
Review parameters 8010-8013 (PMC axis control axis number settings) to identify which axes are designated for PMC control. Cross-reference with your NC program to confirm axis conflict.
3
Examine ladder logic (PMC > LADDER screen or FAPT Ladder) for axis control sequences. Verify that PMC axis control signals are properly reset (turned OFF) before NC program execution begins, typically using M-codes or sequence flags.
4
Modify ladder to ensure proper interlock logic between PMC and NC control modes. Use R or K relay flags to create exclusive control zones, ensuring only one control method is active at a time.
Improper ladder modification can affect machine safety interlocks. Document all changes and test in single-block mode.

DIY Feasiblehigh confidence

Call a technician if:

·PMC ladder logic requires extensive modification
·Parameter changes cause additional system alarms
·Mechanical axis binding or damage suspected

Prevention

Implement proper NC/PMC control handoff logic in ladder programs
Use M-code interlocks to prevent simultaneous axis control
Regular review of custom macro programs for axis control conflicts

Common Mistakes

Modifying parameters without understanding control logic flow
Ignoring PMC axis control signals when troubleshooting NC programs
Not testing macro programs independently before integration

Related Alarms

131 132 133 400 401

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