Al, Hello from New Zealand. I have a jumping servo on a Mazak V5 which alarms out to 401 after being switched on. Once the machine is warmed up everything appears ok. I have also had the occasional 410 come up. These alarms also occur when the motor is lying on the floor, disconnected from its screw. On an another thread you mentioned that sometimes you have to adjust the encoder or line it up. What does this involve? Does this only apply to AC drives? I have swapped encoders, master boards and servo amps between 2 Mazak V5's - any other ideas?