Hi ps0f0r,
you have to set up the gear ratio correct.
Check if the default values correspondend with the settings mentioned in the manual (i, don't know which) for your specific robot arm.
Ask Fanuc for the ratio.
Don't try to set the ratio to a own value. the ratio is used to set the master count (Axis6) internally!
Maybe I'am wrong but at RJ2 controllers I believe it was like i mentioned above.
Best regards
PnsStarter