Hyundai HI4 - Manual (Page 135)

3. Service menu
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At this time, "End" means that the step being out of the range of the soft limit isn't
in the existence and larger => means that a greater number of step being out of the
range of the soft limit is in the existence
⑵ After conversion, in case of having step out of soft limit, you must check which
axis is out of soft limit.
⑶ The same type of robot must be used on right and left side for mirror image
⑷ The reference position of the encoder and 0 degree position of each axis set equally
to the robot of the right side and left side.
⑸ Attach so that the same Gun with Hand or Gun with Hand being symmetry it may be
symmetry to the right and left side or Gun with Hand being symmetry of the right
and left side uses in each robot
⑹ The cable of Gun or Hand attach soft limit may be symmetry to the right and left
side.