text: <s>[INST] Code 3, Type 16 error on start up - Kinetix 6K Sercos I am working on getting a new system up and running and I am having a few problems. I beleive once the first problem is fixed the other will go away. When the main circuit breaker is disconnected the PLC has a major fault on start up. The fault is a code 3, type 16. The fault is with the sercos module and the help file says to check electronic keying. The revisions do match. I even tried to disable the keying and this made no difference. Firmware in processor and sercos card match. I have tried to even re-flash each. The next problem is that I am having one of the four servos loose its position on start up. It goes to around -19,000 for a position on start up when it was at a position of 2. I do an absolute home with the all the servos and the absolute reference bit is staying set through the process. L61 with 4 Kinetix 6000 drives. Once the major fault is clear all works well untill main power is cycled. I was on the phone with tech connect this morning and no luck. Perhaps someone here has seen this problem before. [/INST] About the fault you got: Checking the box Major Fault on Controller if Connection Fails while in Run Mode in the Sercos module's properties / connection tab, will cause a major fault on the processor of Type 3 Code 16 when any fault on the sercos module occurs. For example, if the sercos ring drops out, then in the processors properties tab / Major Fault tab, you'll see Type 3 Code 16 displayed, as well as the ok led on the processor flashing red. For example it is normal for a communication error at power up because the ring takes time to phase up to phase 4 If you want to avoid this, uncheck the Major Fault check box on the Connections tab, or add a Fault Handler. - fuzzy logic \\n </s>