Encoder Position Lost Data on Viper S650

  • Hello everyone,

    I need help with robot Viper s650. The encoder battery is down and we lost the encoder position data.

    I tried to send command "CAL" from terminal using ACE Software 3.8 but the Power module goes to S1 Fault, and my encoder reference os wrong.

    Existing a mechanical zero of the joints?

    How i proceed with this problem ?

    Thanks !!

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