IAI America IF - Manual (Page 59)

5. Maintenance inspection
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9) Attach the pulley cover.
10) Turn on the power to the controller and perform the homing operation from the personal
computer or teaching pendant.
(In the case that the absolute encoder has been mounted, the absolute reset is required).
Confirm the deviation from the original home position.
If there is any deviation, adjust it using the home offset value in the parameters.