I'm trying to do the same thing on a VR 008 in the question just below yours. All I can say is good luck. I have no idea if these two controllers are similar but this is what I have figured out so far.
1. power off and replace 6 batteries.
2. power on, place jumper shorting each battery reset header (2 per board).
3. power off and back on.
4. You will now be prompted to reset the encoders. With some guesswork, you can work through this using the prompts on the teach pendant screen.
Until you get to the "Enter Code" prompt. I have no idea what the correct code is.
If you figure something out please update your post.
Thanks