====== Unexpected large position change detected for given function ======

This is a [[troubleshooting:soft_alarms|soft]] alarm.

===== Description =====

An unexpectedly large position adjustment was done for the motor indicated by the alarm: boom, tower, wheels, telescope, arm or nozzle. The detection limits are different for the different motors.

===== Troubleshooting =====

  * All
      * Check that the function has been initialized correctly before starting
  * Tower and arm
      * Check that the clutch has not slipped
  * Wheels
      * Check that the wheels have not slipped
      * Check that the markers have been correctly mounted
      * Check that no other magnetic objects affect the magnetic marker switch