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Setup limit switch position

Step 1: 

check the position of your limit switch. If the limit switch is in the positive move direction of the joint than it should be a positive number. if it is in the negative side of the joint than it should be a negative number. fill this number in the robot settings -> Position switch. 

Step 2:

Choose the homing order. you can choose in the settings of the robot the order in which the joints wil move to their homeposition. 

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