1) Robot in the Main Menu.
2) Second Home Pos in the sub-menu.
3) Turn on servos in teach.
4) Reset any alarms.
5) Press and hold the FWD key.
6) Verify alignment marks, of position is at factory position.
7) Data in the Menu area.
Confirm Position.
Message will change briefly to “Home Position Checked.”
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Sorry I missed this before replying,,
"Press and hold the forward key doesn't seem to work, I had to drive axis to 0 positions."
Edit, helps if if you check movement speed before saying forward key doesn't work ^^^^^
So I have the Robot in 2nd home position, all axis are at 0, and all markers as far as I can tell are all lined up, the wrist T axis doesn't have the same markers as the rest of the machine, the only thing I can see is two punch marks that do kind of line up. The torch is still twisted about 10 degrees out of square, could this be that something has twisted inside the torch mount? Is it also possible that something on the motor could have moved? I guess without being 100% sure that the 0 markings are correct there is no way telling.