This is from the Fanuc handbook for a 16/18/21:
Alarm NO. 417 A parameter has been specified incorrectly. Check the following paramaters:
NO.030 Is the specified motor type correct?
NO.031 Is the specified direction of rotation of the motor correct?
NO.106 Is the denominator of the number of pulses per single revolution of the motor 0?
NO.180 Is the specifed reference counter capacity 0 or a negative value?
I'm not totally sure if the alarms correspond but it sounds like they should.
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