IAI America RCP2-CF - Manual (Page 160)

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3)
Take out the cover and replace the battery with a new one.
4)
Tighten the cover screws.
5)
Plug the cable into the battery connector.
6)
Perform an absolute reset in the steps below.
Perform an absolute reset by issuing a command from the teaching pendant, in the PC software or from the
PLC.
[1] Reset the alarm (clear the error message) and return the *ALM signal to the ON state.
[2] Perform a home return operation.