other than the normal KEY on the control fro memory /edit lock is there another key for "set-up" manual" auto" they started adding this key right around the late 90's
also have you tried closing the doors then joging it?
a 410 alarm is usually a mechanical binding more than a true voltage or current issue. did you just get this machine into your building? could there be some shipping bracket still on?
if you take off the way covers can you reach in and move the ball screws by hand?