Universal Robots UR5 Service Manual page 44

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Await that state of the joint changes to OK, then press STOP.
Index mark has now been found (index mark is not the same position as zero position).

Use the Up and Down buttons for navigating the joint to the correct zero position according to the
following illustrations.
Press STOP when the joint is in the correct position.
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44 Servicemanual_UR5_en_rev3.0.2