①Put the controller into TEACH mode and select [MOTORS ON]. If you cannot select MOTOR On due to abnormality, set the origin position of the robot by using the brake release switch.
②Move respective axes to the basic posture, then set them by the scale mark.
③Reset the Encoder. Refer to 『6.5.2 Encoder Reset』for the method of encoder reset.
④Correct the encoder. Refer to 『Hi4a Controller Operation Manual』.
⑤Confirm that there is no problem in robot motion.