Problem with a robot homing procedure

Hi all,
I use CRS ActiveRobot with a C# application. It is my first program in interaction with a robot and I have some questions:
I tried to home the robot using the teach pendant. I followed these steps: (1) press F1 for Edit, a new screen appears. (2) Press F3 for Motn, a new screen appears. (3) Press "Speed Up" Button of the teach pendant two times to have 10%. (4) With the axis A-B on the teach pendant, I tried to align the two arrows in the back of the robot. I did the same operation for axis F- G , K-L , P-Q , R-S and their corresponding align arrows. The problem is that axis P-Q and R-S align the same arrows, and the last arrows to align didnt work. I also had the arm power cut off every time I tried to align with R-S. (5) When I clicked "ESC" button of the teach pendant three times to end homing procedure, the robot homing didnt succeeded.
Please can any one help me to figure out the problem?
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