I recently came into posession of a dual robot UP-130 system with an xrc-2001, a dual UP-165 system also with an XRC-2001 and four controller-less UP-6 manipulators. A horrid person chopped and discarded the cables for the Slave UP-165 making the UP-165 system useless except for parts. I have been trying to fire up the UP-130 system. Both controllers seem to boot but at start up i get one red led and two green leds on each WRCA card and then a 0021 Alarm communication error (Servo) . depending on which controller is booted first it will alternate between (servo)  and (servo) . If i boot both controllers simultaneously it defaults at . The Power supply to the left of the servo-pack has its green light on so power is being delivered. A minute or two after boot all lights on the WRCA card turn off. Tech support says robot one is having trouble communicating with robot two and vice versa. Important to mention is that someone had taken out a number of the cards in the slave controller and i had to put them back in as best i could according to the labels but some of the USB cables are not labelled. Any ideas on how to remedy this error? Also is it possible to reconfigure robot one to operate without robot two? being able to use only one robot may in fact be more ideal because i have limited space and then i could keep the slave robot and controller for parts and my UP-165 system would be usable as a single robot. Tech support said that this may be possible but that it may have to be done with management permissions (which they wont give me). Any advice is much appreciated.