RV-2SD Joints move only one direction, wouldn't let me move in other direction

Hi,

I had to replace the Mitsubishi RV2SD batteries. I rebooted the controller, set serial and origin data, parameters are downloaded. Now when I am trying to Jog the robot with Teach Pendant joints J2,3,4,6 move only one way. If I try to move it in other way error pops up saying ” The position error exceeded at servo” Has anyone had similar problems ?
Thanks everyone in advance !

Figured it out. Had to set the origin by normal method and then using ABS method.