YASKAWA MH24 Operating And Maintenance Manual page 80

Maintenance and inspection
9. Select the axis on the screen (e.g. S-axis).
10. Leave the movement area of the robot and ensure that nobody is standing in this area.
11. Switch on the SERVO power. Press <SERVO ON READY> and the on-off switch on
the programming pendant.
12. Press <Zeroing> on the screen.
A window with a warning message opens:
If you have followed all the previously described steps, then you fulfilled all the points
stated on the list and you can proceed with the following step.
13. Press <OK>.
The robot starts automatically and carries out the reset movements. The movements
are very slow and very small, therefore they are hard to recognize. Observe the screen
of the programming pendant.
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