Hi, I am trying to fit a Fagor 8055m control to a milling machine. The control had lost its battery and lost everything, I sort of wrote a PLC program by cribbing it from the OEM manual and kind of worked out the parameters. I am using brushless DC servos. When the control is switched on the servos will lock up and moving them by hand with power off will throw up a following error so clearly the servos are being monitored and controlled OK. As soon as I touch a jog button an alarm shows a "hard axis over limit" I believe the error code is CNC 200(X) depending on the axis. It seems as if the control thinks the servos are locked. They are set up as torque control, out of curiosity I altered one to velocity control but it made no difference. There are no "M" codes. I have a floppy disk with a PLC programme which is in Spanish and other file lists one of which is the PLC parameters. There are no sub routines I wonder if my problem is because the are missing. How do you program in the PLC parameters ?, are they necessary?. I have tried different gain settings to no avail. The original Spanish PLC program is for a machining center and is mostly redundant anyway and almost impossible to decipher and if I load it up throws up all manner of errors. Is there anyone out there who can help. Thanks in advance. Dave