Hello guys,
I would like to ask You for an answer to my problem. After turning on my Puma I am referencing (respectively) the Y, B, X and Z axis.
Everything looks ok, the MDI works fine as long as I don't move the Y-axis. After moving the Y and trying to do anything in MDI i got the 2073 error - "This command cannot be performed, perform manual reference point return of y axis & x axis". Today I got new alarms, the 2093 - "Reference command from reference position keep state" and resulting error 090 - "Reference return incomplete".

This machine is turn on once/twice per week for a 2-3 hours and as I remember, it didn't happen so often.

Do You think that it can be a battery issue, maybe I should clean the hided switch or it's something worst?

Regards,
Arek