The old "encoder batteries died" story for a new machine.

I can't figure out what the manual process is describing...

I've been able to toggle param 1815 APZ digits to set a 'random' zero point for all the axis, but of course, they are just a random guess on location.

I've taken all the covers off, and there doesn't appear to be any dogs or other limit switches to work with.

The existing grid shift param configs are within a few numbers of the factory values.

1850 values:
27120
15000
-10990
-30000


Z & X are described in the manual, but Y & B don't have any zero positions to even try and work against.

Any help or pointers would be very much appreciated!

Fanuc 31i-A control

pages from the manual for the procedure (duplicated in sections 3 & 4)