401 and 420 alarm

[lockmachinist]

I start up my ooya with a fanuc 6m control. I get a 401 and 420 alarm.
Tried pressing cancel and p buttons to reset same alarm come up. Checked the diagnostics on number 801 it read -476 and number 804 read 3490. Does anyone have an idea of what my problem is or how to fix it?

[cncdiag]

Look at your servo drives and see if there are any alarm leds on