DX200 / YRC1000 servo motor jerking at servo on

Abstract:

     A servo motor can jerk when servo power is applied to a DX200 or YRC1000.  This can occur when replacing (or manually turning) an encoder without lining up arrows. 

A servo tracking / wrong direction motor alarm can also occur.

Solution:

• Turn off controller power.   
• Remove the encoder.
• Rotate encoder 180 degrees (lining up the arrows)
• Reinstall the encoder
• Turn on controller power.
• Servo on