To check the Specified Point, perform the following steps:
1. Press RESET (F5) on the Programming Pendant to reset the “Out of Range” alarm.
2. Press TEACH on the Playback Box.
3. Press the CUSTOMER key on the Programming Pendant.
4. Press SPEC PT (F3) on the Programming Pendant. The display shows a data screen
5. Press the SERVO POWER ON button.
6. Press PSN CHG (F1). The display flashes “HOME POSN CHANGE.”
7. Press the ENABLE key on the Programming Pendant.
8. Ensure the pendant is in JOINT coordinates.
9. Set manual speed to MED or FST.
10. Ensure a clear path, then press and hold the FWD key to jog the robot to the Specified Point. “HOME POSN CHANGE” stops flashing when the point is reached, and the data display changes to all zeros in the DIFFERENCE column.
11. Press CHECK (F4). The soft key selection CHECK (F4) and “HOME POSN CHANGE” display disappear, and the message line displays “!Home position checked.”
12. Press QUIT (F5). This returns the soft key labels to the original CUSTOMER soft key menu.