19687 needs to be a 3 not a 1!! So so stupid, of course it's one of the easier settings! Just got further than ever before in test program, feels like I'm getting somewhere after being stuck for so long!

Hi Guys, having some issues getting a Robodrill running with a Tsudakoma 5 axis table, everything I've learnt apart from the very basics has come from older posts on this forum, so thought I had better sign up! I'm based in the UK, machine and rotary are brand new, machine has a 31i B5 Plus control The rotary was supplied and fitted by a specialist company, they aligned everything and set all the reference points, they also set a load of parameters that were supplied by Tsudakoma. When doing test programs in MDI it performs as expected. Fanuc are actually willing to help get this going even though I didn't get the rotary through them, but they would need to do this onsite and they can't fit me in for a few weeks. I really need to get this going asap! I don't believe a physical copy of the manual comes with the machine anymore? There is a manual built into the control and I'm trying my best, but I can't find the "description of parameters" section which seems to be the most useful part. I suspect they don't want to include this info anymore? Therefore I am currently using a downloaded parameter manual from an older spec control and lots of searching online! Just trying to run a super basic test program at the moment which I have attached. It orientates rotary to correct position and everything looks about right, does the first contour, retracts spindle, orientates to 2nd rotary position, but then alarms out before the spindle comes down. Alarm PS5459, Machine Parameters Incorrect, the alarm then mentions most of the parameters below, along with a few others According to the manual I'm using the 5 axis parameters are between 19650 and 19752 Here's what I have for some of the easier to understand settings, these are most of the parameters mentioned in the alarm, basically everything was 0 before I started making changes 19680 - 12 19681 - 4 19682 - 2 19684 - 1 19686 - 5 19687 - 1 19697 - 3 19689 - 1 19700 - X cor position 19701 - Y cor position 19702 - Z cor position 19741 - 110 19742 - -30 19743 - 999999.999 19744 - -999999.999 I'm quite confident about most of the parameters above, the manual gives good information and it all feels fairly logical. The following parameters are giving me a bit more trouble 19703-19705 It feels like I shouldn't need to use these when reading the manual, but older posts on here suggest it is needed. Although I believe this would just cause misalignment rather than the alarm I'm having? 19665 - 19667 Really struggling to get my head round these going by the manual, searching doesn't seem to bring up very much 19696 and 19746 I have been adjusting these without much success, can definitely find mention of these and the manual just about makes sense, can't remember what I have these set at right now but nothing I'm doing seems to help! Picture attached showing machine layout, at B0 and C0 in the picture Any help would be really appreciated!! I feel like I'm pretty close although I've been at this stage for a couple of days now and I'm running out of ideas! Many many thanks setup.nc