Controller Troubleshooting:

You should ALWAYS do a RESET on the hand controller after doing a FIRMWARE upgrade. There have been several trouble posts where bits and pieces of the OLD firmware were causing issues with the NEW firmware. Several different types of alignment problems have been solved by simply doing a RESET.

This is also the right time to RE- Calibrate Motors, and RE-Train Drives. Also check all the time, date, site, and daylight savings time data and reset these as needed.
Provided by Joe Lalumia