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Review the program block where alarm occurred and identify which composite control mode is active (check for G10.6 or parameter settings for gantry/tandem control).

Cross-reference the command in the alarm block with Fanuc programming manual section on composite control to verify if the command is prohibited during this mode.

Remove or relocate the prohibited command outside the composite control block, or cancel composite mode (G11.6) before executing the command.

Test the modified program in single block mode to confirm the alarm is cleared and composite control operates correctly.

Ensure machine axes are properly synchronized before testing composite control movements

Check parameters 8450-8454 (composite control axis settings) to identify which axes are configured as master and slave in the composite group.

Record parameter values before making any changes

Examine the program block for commands addressing slave axes directly when composite mode is active - only master axis should be programmed.

Modify program to command only the master axis of the composite group, removing any direct slave axis commands from composite control blocks.

Verify axis assignments match machine configuration and that composite control enable signal (if used) is properly activated before composite commands execute.

Verify G10.6 (composite control ON) syntax includes all required parameters per the programming manual (format: G10.6 P_ L_ ;).

Check for modal group conflicts - ensure no incompatible G-codes are active in the same block as composite control commands (e.g., G02/G03 with certain composite modes).

Review preceding program blocks to ensure composite control was properly enabled before attempting synchronized movements and properly disabled (G11.6) when no longer needed.

Insert a separate block for composite control activation/deactivation rather than combining with movement commands, then retest program.

Always cancel composite control before program end or tool changes