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Error A0 27

 
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Error A0 27

We have a Storageworks 1 8 Ultrium 960 Autoloader which is giving an A0 "Carousel Motion Failure" error. I have had the top off and nothing is jammed or stuck. With the tapes in the sub error is 27 "Belt home error". Having taken the tapes out I'm now getting sub error 2A "Belt move error at move to carrier 4"

Does anyone know how to set the belt home position or resolve these issues?