6400 Commutated Error 20080

[slinky]

I have an error 20080 Not commutated.

These robots have been moved (disconnected/reconnected)
All connections look fine.
Three of three robots are showing the error
They have external axis control
Cannot get servos on with this error
S4 control 6400

[ABB robter]

All AC motors have a commutation point (0 degree position of the motor for UVW pulse timing). The robot axis are set to a fixed value and the resolver is set at the factory to the 0 position, which you can see in the MOC file. The exernal axis is what is giving you the problem maybe the serial measurement board for them is not communicating or not connected correctly. You can look in the MOC file or Manipulator parameter to find the value and see if it is marked valid but I think your problem is the SMB to the external axis.