ATC not in starting position (Integrex 400Y)

Hi. I was running a program and wanted to pause it for a quick check and i stopped it during the arm swing but now it wont play along anymore.

I have removed the tools and i can move all the tool change components through the "ATC menu" and "ATC maintenance" buttons but i cant get it back to working properly. I get the 327 error "Not in ATC start position".

I can get the arm to swing around by holding the "ATC arm hope pos" button but get an error 394 "ATC controller malfunction" if i dont press "MF1" + "ATCservo home pos" first, but then it just goes around and around...

After a bit of testing i can no longer close the ATC cover...

Anyone have any ideas of what to do?