Denso VS-G Series Installation & Maintenance Manual page 56

STEP 10
Turn the power switch of the robot controller to OFF.
Caution: After changing the software motion limit(s), move the 1st axis
over the full stroke in the manual mode (speed = 10% or less)
to confirm that the positive- and negative-direction software
motion limits function properly. If they are valid, the axis stops
just before the mechanical end, and ERROR6071 appears.
In the following cases, reset the bolt positions, the
positive-direction software motion limits, the RANG values and
the negative-direction software motion limits to the original
settings, and repeat the procedure from the beginning:
1) The software motion limits do not function when the axis
is near a mechanical end, and another error (6111, 6121 or
6171) occurs.
2) A software motion limit error (ERROR6071) occurs
although the axis is not near a mechanical end.
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