getting multiple SRVO-156 IPMAL ALARMS on axis 1 when running at 100% it will run fine at 80%. I've changed the servo amp, RM1 and RM3 cable, and both axis 1 motors. Still faulting out were using an R-30ia cabinet. Also getting SRVO-106 door open/e-stop with the alarm I replaced the E-Stop board but it did not help.