Fanuc Alarm 375 CAN NOT ANGULAR CONTROL(SYNC:MIX:OVL)

Fanuc Alarm 375 CAN NOT ANGULAR CONTROL(SYNC:MIX:OVL)
Fanuc Alarm Description
Angular axis control is disabled for this axis configuration.
1) All related axes in angular axis control are not in synchronous control mode. Alternatively, settings must be made to provide synchronous control between angular axes, and also between orthogonal axes.
2) All related axes in angular axis control are not in composite control mode. Alternatively, settings must be made to provide composite control between angular axes, and also between orthogonal axes.
3) The related axes in angular axis control are in superimposed control mode.