Fanuc Alarm PS280 ILLEGAL COMMAND IN SPIRAL

Fanuc Alarm PS280 ILLEGAL COMMAND IN SPIRAL

Fanuc Alarm Description
Fanuc 15i
R was specified in the program block; 4 or more axes were specified in the program block; or the direction of the acceleration/deceleration vector on the specified radius is opposite to the direction of the end point.

Fanuc 15
An illegal command was specified for spiral or conical interpolation. (R was specified.)