I have the 'Check encoders' Reset encoders' screen at power-up.
I have renewed the 6v battery in the cabinet and the 4 ni-mh in the
robot base. With all batteries disconnected I brought the encoder
cap voltages to 0v.
The servos come on and work ok even 'overload shutdown' etc.
But I can't get past 'that screen'.
This robot does not have the circuit boards in the arm like later models
and the back up batteries in the arm and all 4 are in parallel through diodes.
They are also in parallel with the 6v in the cabinet and would back-up the
encoders when the arm is disconnected.