YASKAWA MA2010 Operating And Maintenance Instructions Manual page 76

Maintenance and inspection
4. Press {FWD}.
TCP moves to the second home position. The robot moving speed is set as selected
manual speed.
5. Select {DATA} in the menu.
6. Select {CONFIRM POSITION}.
A message "Home position checked" appears.
Pulse data of the second home position and current pulse data should be compared.
Automatic mode can be done if compared error is in allowed range.
If the error is beyond the allowed range, the alarm occurs again.
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