Based on your description, I'd be checking the wiring. The Stroke End Cancel alarm is usually generated AFTER a Stroke end over has occurred, and the overtravel release switch has been flipped ON. Once ON, you would usually go to manual mode, hit RESET, and then move manually with the pulse handle away from the tripped axis limit. Since you say that it occurred during a restart, and it's not overtravel, the machine "thinks" the switch is ON. Check the wiring to the overtravel release switch in your electrical diagrams and see if the switch is ON in your CHECK DATA, EC INPUTS. (They should be listed in your Maintenance manual.) Fix the switch to be OFF, make sure you're not on any limits like Algirdas says, and press reset to clear the stroke end cancel alarm.
On a side note, I think that vintage of machine may function like the E-stop is active if it is sitting on a stroke end limit, so you may want to ensure that you are not on one - they may be tied to the e-stop circuit. Of course nothing will move if in e-stop, but manual handle movement should be active when stroke end cancel is active and reset is pressed in manual mode. This allow you to get off the stroke limit.
Best regards,