1. Align axis to Zeroing Pin location and carry out encoder correction.
2. If you still have issue with program , then this could be due to program positions created after encoder correction done at random location and not zeroing pin location.
bsrr is right, driving each axis in joint to pin position and doing an encoder reset/ correction is the best way here, once the axis that you have trouble with is in pin position verify how close to 80000 it is before making any changes, this should let you know if the problem lies elsewhere.
Any manuals about sc 15 operation and maintenance ?
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