This article applies for the RC7 or RC5 Controller
When the controller powers up the 2AF1 error shows on the pendant.
Typically this error is related to the robot arm being moved when the controller power was off. A simple encoder reference retest tends to fix the issue.
Operate the pendant as follows.
1. Press [ F2: Arm ]
2. Press the [ SHIFT ] key
3. HOLD (Right and Left keys) + [ F6: Maint ]
4. Press [ F8: ENC Ref ]
5. Press [ F5: Chg Ref ]
6. Press [ OK ] (twice)
7. Press [ F1: Pos Conf ]
8. Press [ OK ] (twice)
The error indication is cancelled by the above operation.