So I inspected the connections at the base of the robot and re-seated them.
I power up and allow the control to boot. The active alarms are:
1) SRVO-003 dead man switch release this one isn't an issue
2) INTP-348 (SGLSTEP2, 32) Write I/O I'm not sure what this is
PRIO-104 Device is off-line
3) SRVO-002 Teach Pendant E-stop, not an issue here
4) SRVO-001 Operator panel E-stop, not an issue here
5) SYST-043 TP disabled in T1/T2 mode
All of the above alarms go away when I reset the e-stop, press reset on the TP, or squeeze the deadman.
This morning, the first time I pressed a joint movement button I received the same SRVO-050 alarm. I reset it and tried again. This time I was able to move in the postive on J3. After a few seconds however I received a new alarm SRVO-310 ABC unexpected motion
I can press reset but when I squeeze the deadman, I hear the contactors in the control box engage and then it sounds like a second contactor clicks and the error reappears. I can't get any motion at this point