What proceeded this? Has the robot been sitting for a long time without power? Was the encoder battery door opened with the power off?
Try searching srvo-062 BZAL
I've had multiple issues with the LR Mate 200iD models when there were power outage/glitches while the robot was in motion. These robots seem to have an design that is more susceptible to issues at power outage. I think they use 24VDC brakes as opposed to 90VDC so this likely is the reason we get many SRVO-038 alarms only on this model when others on the same power buss don't experience it. Another possibility is someone moved one or more joints of the arm with the power off. With an LRMate that doesn't require much effort.
If someone has partially resolved the SRVO-038 alarm (cleared the pulse coder alarm, reset master done variable to true) that may be how you ended up where you are at. MENU-0-6 System-Master/Cal-6 Calibrate should resolve your issue if that's all it is. Check your alarm screen MENU-4 ALARM to see what is all amiss.
