I'm having an issue with my IRB 6000 not letting me run any programs. When I try to run a program, it'll move in a weird fashion and then it'll give me a 504 Program Run Error 26. I've tried calibrating it (lining up the lines on each axis and updating the counters), however, when I hit active, it gives me a Program Unit Communication Fault. I suspect it has something to do with that but I'm not entirely sure. Any help would be greatly appreciated!