Code PS0213 / BG0213 / SR0213: ILLEGAL COMMAND IN SYNCHRO-MODE
Issue Description & Safety Warning
The Fanuc 0i-D / 0i Mate-D Alarm List has triggered a critical ILLEGAL COMMAND IN SYNCHRO-MODE alarm. Immediate attention from a qualified operator or maintenance technician is required to prevent secondary damage to the equipment or spoiled parts during the manufacturing cycle. Always ensure standard safety and LOTO procedures are followed before accessing electrical cabinets.
Official Troubleshooting Steps
Section: CNC alarm list Alarm group: Program/operation, background edit, communication (PS/BG/SR common alarm number) Original alarm number: 0213 In feed axis control, the following errors occurred during the synchronous operation. 1) The program issued the move command to the slave axis. 2) The program issued the m anual operation to the slave axis. 3) The program issued the aut omatic reference position return command without specifying the manual reference position return after the power was turned on.
Source: Fanuc B-64305EN/03 Appendix A Alarm List
Last reviewed: 2026-07-01 · Verified against the manufacturer’s official documentation.
About Fanuc 0i-D / 0i Mate-D Alarm List Alarms
Fanuc controllers include extensive self-diagnostics that flag or halt the machine when a fault is detected. Error code PS0213 / BG0213 / SR0213 on the 0i-D / 0i Mate-D Alarm List identifies one specific fault condition — its documented cause and the official corrective steps are listed above, sourced from Fanuc's service documentation. Always confirm against the manual for your exact machine configuration and follow LOTO procedures before servicing.
Complete Alarm List: 769 Fanuc 0i-D / 0i Mate-D Alarm List codes.
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