I'm new to the maintenance side of Motoman robots. We have been having this problem every few weeks for a few months now where when we open the service door to our booth it shuts off servo like normal, but every now and again when we shut door and power back servo to resume production it throws this alarm. Sometimes it takes several controller power cycles to get servo power back and keep the alarm cleared. The maintenance manual tells me the alarm data () means power on unit 2 has a signal unmatched error with 04 IORDY. I can't figure out what wiring its talking about on the NTU2. Any help would be appreciated.