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Review the program line triggering the alarm and verify G336/G337 command syntax matches your parameter manual exactly (typically G336 X__ Y__ Z__ with torque values in %).

Confirm torque limit values are within allowable range (typically 0-100% or 0-255 depending on parameter settings). Check parameters 7700-7799 series for torque control limits.

Verify axis letters specified in the torque command are valid and controlled axes on your machine configuration.

Ensure G336 and G337 commands are properly paired and not nested incorrectly. Each G336 must have a corresponding G337 to exit torque mode.

Verify torque control option is installed by checking SYSTEM > OPTION menu or parameter 8136#0 (torque control enable bit).

Check parameter 7700 (torque control mode selection) is set correctly for your application (0=disabled, 1=enabled).

Verify parameters 7701-7705 (axis-specific torque control parameters) are configured for the axes being commanded in your program.

Incorrect parameter settings can cause servo instability or damage. Record original values before making changes.

If option is not installed, remove G336/G337 commands from program or contact Fanuc/machine builder to purchase and enable the torque control option.

Check for active canned cycles (G73-G89) or threading operations (G76, G92, G32) in the program prior to the G336 command. These must be completed and cancelled before torque mode.

Verify rigid tapping mode (G84/G74 with rigid tap option) is not active. Exit all tapping operations before invoking torque control.

Ensure feed-per-revolution mode (G95) or other special feed modes are compatible with torque control per your machine specifications. Switch to G94 (feed-per-minute) if required.

Review program sequence and add G80 (cancel canned cycle) and G337 (cancel torque mode) safety commands where appropriate to ensure clean modal state transitions.