IP-0 can be cleared without being in the calibration mode.
1) Short the input
2) Select DCV mode
3) Press the (Input) Zero key
I think that it will zero all ranges if in Auto Range mode, or just the range selected otherwise. Ohms can also be zeroed, if fitted with that option. Check the specifications. The 1072 may need to be zeroed within 15 minutes of usage in order for the unit to meet specifications. (This is required on some Datrons, but I haven't researched a 1072.)
Those units are notorious for electrolytic capacitor failure. If you have a decent LCR meter, I'd check them all, especially the (blue) ones located at the front top left (and the ones on the rearward power supply). There are about 11 aluminum electrolytic capacitors in those type meters.
I'd recommend the following:
1) Check the 5V power supply (it's adjustable, set to 5.1 Vdc)
2) Check the lithium backup battery
3) Check the 15V supplies for dropouts (with an oscilloscope)
Another problem with those units is that there are a lot of socketed ICs, which makes for easy replacement and troubleshooting, but the socketed ICs can develop high contact resistance and cause problems (like IP-0). Something else that I suspect could cause an IP-0 error is a loss of power during a memory write operation (but that is more likely to cause a FAIL error than IP-0.)