2AF1		3

	Encoder reference position error
	1. Robot type is not consistent with the robot controller. 2. The encoder is normal, but the robot arm (2nd axis or 3rd axis) has been moved after the controller was turned off. 3. The motor was replaced. 4. Encoder reference error occurred in the 2nd axis or 3rd axis.
	To clear the error caused by the reason of 1 or 2, send the arm data (including CALSET value) for the corresponding robot to the controller using WINCAPS II arm manager. To clear the error caused by the reason of 3, perform CALSET for the problem axis. Check the positional error in the 2nd axis or 3rd axis, and then perform CALSET for the related axis. Note: Though this error can be cleared by transmitting the arm data contained CALSET value to the controller, the positional error may be occurred. Therefore, check the positional error in the 2nd axis or 3rd axis, and then perform CALSET for the related axis.