Epson TP1 - Manual (Page 73)

Operation 2. TEACH Mode
TP1 Rev.5 63
(9) Select a point data that is easy to verify the accuracy of the joint that needs origin
alignment from the currently registered point data using the < ↑> and <↓> keys, and
press the <Enter> key.
Press the <F2> key.
(10) The following screen appears.
Press the <Motor> key to turn ON the motor. Press the <F2> key.
(11) The following screen appears.
Press the Jog key to move the joint to the basic pose as accurate as possible.
Press the <F2> key.