Error 5057 Joint not synchronized after robot restart

Hello to all, we are having problem with one IRB 120. Customer is complaining that robot is losing position. From error log we can see that customer restarted controller and robot lost its positions reporting error 5057 and of course after this event error rev. counters not updated. Robot has new smb battery, not reporting error from encoders or brakes during operation. Could this be problem with SMB board or maybe brakes that are not holding manipulator during controler restart. Thanks a lot in advance.

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