Okuma Alarm-A 1864 Z/C-axis not in rotation possible area
When the swing rotation command was issued, the Z/C-axis was not in the rotation-enable range.
0->No relation to any axis
1->If the swing is rotated, the Z- or C-axis will move over a software limit.
2->The robot specification provides that the Z-axis can rotate only in the plus software limit. Though this condition is not met, the swing rotation command was issued.
Probable Faulty Locations
1)Parameter (software limit) setting error