Help reset encoder Nachi AR controller

Encoder Reset Procedure

1) Remove the lid on the right side of the robot. (Confirm that the back-up batteries for the encoder have been connected.)
2) The reset plug is located on the inside of the cover on the right side of the robot. Connect that reset plug to the reset connector (CNRST 1 to 6) for the reset axis.After more than 10 to 15 seconds, disconnect the reset plug.
3) Confirm the data by Confirming the reset.”

Axis Name of reset connector
S CNRST1
H CNRST2
V CNRST3
R2 CNRST4
B CNRST5
R1 CNRST6

Confirm Reset
1) Turn off the power of the control unit.
2) Confirm that the reset plug used in the reset work has been disconnected.
3) Turn on the power of the control unit.
4) Select [Constant setting : Group 1] [Encoder correction].
5) Select [Encoder correction (setting value)] to display on the next screen.
The encoder compensation value for each axis is displayed on the left side and the present
encoder value on the right side.
6) Move the cursor to the encoder compensation value for the axis that has been reset and press “0”
(zero). Press “SET” to display.
7) Select [over write] with “PF5”.

....