Many thanks for your favor.
I have one 200ic LR-mate I have sometimes this error DTERR alarm (G:1,axis:2) and I do every action for solve this problem .
But my problem doesn't solve I want to change pulsecoder axis 2 .
But in 200IC how can i change the pulse coder for axis 2. where is the pulse coder in manipulator.
In mechanical unit it is not reachable .
Many thanks