[Cause]
The pulse value immediately before power-off differs from the pulse value at power-on. The numbers in parentheses indicate the motion group number and the axis number within the group. Possible causes are as follows:
1. Motor (the pulse encoder was replaced, or the back-up battery of the pulse encoder data was replaced.
2. Read the file (SYSMAST.SV) saved when the axis position is different from the current axis position.
3. Incorrect axis setting (with brake) for a motor without brake.
4. For a robot with the 2 axis brake option, the wrong model setting was made.
5. Read the save files of other robots (SYSMAST.SV).
6. The axis position was changed using the brake release device while the power was off.
7. Power off bottom bracket dropped due to brake failure.
8. The power supply was cut off during high-speed operation.
9. Connected the robot connection cable to another robot.
[Countermeasure]
1. If it occurs together with SRVO-222, take the countermeasure SRVO-222.
2. For causes 3 and 4, check the axis and model settings and correct them. For cause 5, reload SYSMAST.SV for this robot, then reset the pulses. For pulse-reset procedures, refer to 3.1.4 Pulse Encoder Alarm Recovery. After pulse reset, perform mastering if the current position is incorrect. If the current position is correct after pulse reset, move the cursor to $DMR_GRP[group number].$MASTER_DONE for the appropriate group on the system variable screen [6 System / System Variables] and press F4 TRUE. Then perform positioning on the positioning screen [6 System / Positioning], or turn the controller power off and back on.
Note: Generally, the calibration interface is not displayed. Operate by qualified operators.