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Need Help! Doosan 2000sy alarm 2102

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Hi Guys

This has been an on going problem, it seems to show up once or twice every few months. I will come into the shop to warm up the machine and (2102 Turret Control Unit Alarm. Check Servo Control Unit in Control Cabinet) will appear. I wait 10-15 mins and try again, sometimes its gone, and other times I have to turn the machine off and on again every 10-15 mins 5-6 times. I can not find any info in my manuals about this alarm, have any of you guys had this problem and figured out how or what causes this? I have checked the battery in the Vision unit and it has a full charge.
When the alarm is gone the display on the vision unit will read 0000.

The machine is a 2006 Doosan 2000sy with a Fanuc 18i-TB control


I have attcahed afew photo's







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