What causes FANUC alarm 197?

The Cs contour control mode was never activated before the program commanded C-axis movement, meaning the spindle is still in normal rotation mode.. Missing or incorrect M-code in the program to switch the spindle from speed control mode to Cs contour control mode before C-axis moves.. The PLC signal for Cs contour control (SCSL or equivalent) was not turned on, either due to a ladder logic issue or a missing M-code call.. Program was restarted mid-cycle or after an emergency stop, and the Cs mode activation sequence was skipped during the restart.. Incorrect program structure where C-axis positioning commands appear before the spindle has fully indexed and the Cs mode signal has confirmed ON..

How do I fix FANUC alarm 197?

1. Check the part program and confirm there is an M-code (commonly M200, M96, or machine-specific) that activates Cs contour control mode before any C-axis movement command. 2. Verify the Cs contour control signal is actually turning ON in the PLC diagnostics. Use the DGNOS screen or PMC monitor to check the SCSL signal status when the M-code is called. 3. If restarting after an alarm or mid-program restart, run the program from the beginning or manually execute the Cs mode activation M-code before resuming C-axis moves. 4. Check the machine parameter settings related to Cs axis control to confirm the axis is properly configured as a Cs-controlled spindle axis. 5. Review the machine tool builder manual to confirm the exact M-code and sequence required to enable Cs contour mode, as this varies by machine builder. 6. If the M-code is present and correct, check for PLC ladder faults or interlock conditions that may be preventing the Cs mode signal from turning on.

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FANUC Controller

Program/G-code · Intermediate · 20-45 minutes

Alarm 197

Fanuc Alarm 197 - C-AXIS COMMANDED IN SPINDLE MODE

Fanuc Alarm 197 occurs when a C-axis (spindle as rotary axis) positioning command is executed while the machine is still in spindle mode. The system requires the C-axis contour control enable signal (typically G-code or PMC signal) to be active before C-axis motion commands can be processed.

FANUCProgram/G-codeIntermediate20-45 minutes

197

Fanuc Alarm 197 - C-AXIS COMMANDED IN SPINDLE MODE

PMC Alarm

Root Cause Summary

Fanuc Alarm 197 occurs when a C-axis (spindle as rotary axis) positioning command is executed while the machine is still in spindle mode. The system requires the C-axis contour control enable signal (typically G-code or PMC signal) to be active before C-axis motion commands can be processed.

Safety

May affect machine safety
⚠️ May compromise machine safety systems
Electrical shock hazard: Turn off power to the machine before working on electrical components.
Mechanical hazard: Machine may move unexpectedly. Ensure all safety interlocks are functioning correctly before attempting to diagnose the problem.
Crush hazard: Be aware of moving parts when working around the machine.
Lockout/Tagout procedures must be followed before performing any maintenance or repair work.
Risk of injury if machine is not properly secured.

Causes and Fixes

1
Check the part program for M-code sequence. Verify M19 (spindle orientation) or the machine-specific C-axis enable M-code is commanded before any C-axis positioning moves (G0 C__, G1 C__, etc.).
2
Navigate to SYSTEM > PARAM and check parameter 4000-4009 series for spindle/C-axis configuration. Verify parameter 4016 (C-axis selection method) is set correctly: bit 0 defines whether M-code or G-code activates C-axis mode.
3
Check parameter 4002 (spindle gear ratio) and 4003 (C-axis command unit) are correctly set. Incorrect settings may prevent proper mode switching even with correct M-codes.
4
Verify the program sequence includes proper modal state: insert M19 or M119 before C-axis commands, and M3/M4/M5 when returning to spindle cutting mode.
Ensure spindle has fully stopped (M5) before M19 orientation command to prevent mechanical shock.

DIY Feasiblehigh confidence

Call a technician if:

·PMC ladder modification required
·Servo amplifier replacement needed
·Parameter corruption suspected

Prevention

Always include proper Cs enable sequence in NC programs
Regularly backup PMC ladder and parameters
Monitor PMC scan times during complex operations

Common Mistakes

Forgetting M-code to enable Cs mode
Insufficient dwell time after Cs enable
Modifying ladder logic without understanding interlock sequences

Related Alarms

196 198 410 411

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