key strokes to calibrate a ABB S3

I need some help with an ABB S3C M93 . i am trying to calibrate the arm but i do not know the key strokes to do so.

If anyone has a manual they can share or remembers how to do this please share it would be much appreciated.

thank you Lemster68 Ive been through that about 3 times and not finding it... its very hard to get the manuals for an antique.

I reached out to ABB even , they gave me the service manual for the S3 but that didn't help either.