Sir: I have a similar FA450 that has been sitting also, with an ATC jam. Now that I have a chance to work on it, I have a dead battery on the ATC drive, which I have replaced. I have the Mits 500 controller, but I believe both the Fanuc and Mits have the MG-U030/MG-U050 drives for the ATC and pallet servos. Have you had any luck getting yours going? There doesn't seem to be much info on these Sanyo drives online - I do have the handheld unit for checking/setting parameters, but no manual on what the alarms mean and how to reset. Thanks in advance!

Bill