I need a manual for a GMF Robotics S-200 controller for a Fanuc Robot.

I'm having an issue mastering/calibrating the unit.
I purchased this robotic arm and controller a couple years ago, and finally today got a chance to power it up and play with it.
The controller powered up fine, and I am able to successfully jog each axis with the teach pendant.
The NOT CALIBRATED indicator light is on. So I depressed the calibrate button and received an error message regarding battery voltage low and stopped mastering.
I changed the 'D' sized batteries in both the controller and robot arm (while the unit was still powered up) and restarted the controller.
I again depressed the CALIBRATE button after reboot and now receive the error message ' Mastering Not Done'.

I am unable to run/create any programs until the machine is mastered and/or calibrated.

Any suggestions would be great. I'm hoping the operations manual could give a little insight.

As a side note:
Hunting through 25 year old green screen option menus causes severe migraines.

Thanks.