The objective of Pg. 47 to 55 is to set the home-position of the robot,
the home postion is shown on page 49 and its like military attention, when the serovs are least stressed and robot stands straight.
pg,50 to 55 are just showing an example that we can confirm the home position by loading the first example code in location 80, and then seeing that the robot actually stands straight.
The important part is pg. 47 to 49.
On poage 47,
-- click on pos button and place it on code area.
open the pos window and right click and enable "servo" for each channel
This shall set the robot in a stiff but "no mess position" (my give name).
this is shown on page 48.
Now once the robot is in a no mess position and all servos are on their zero (this is their absolute zero position).
Now click the Bird icon, and open the HomeDialog.
in this dialog we set each servo indiviually and VERY VERY preceisely such that robot goes to "straight" position shown in pg. 49.
This is home position setting.
These values shall be fed into the on-board microcontroller (i dont know when) and are now the relative "zero values".
So next time you specify a "Home Position" as in all sample codes (blue box) as 0,0,0,0,0... the robot stands straight.
Now it is very important the your home position (set by the bird icon) is perfect for your robot, so it is always stable, and it can execute the sample code perfectly.
So please align in home-dialog, to position shown in pg.49 -maybe using a scale and as accurately as possible.
once this is done.
i think you can try the first example and load it in location 80.
executing that will make it "attention".
after that i just loaded the other sample codes in different locations and tried them. (yes i did have to remove kanji from the file names for loading).
for the text which can be copied from the pdf, try the following translation site -
(select the lower option in center, for Jap to Eng.)