Is your robot requiring a origin after every power up? It is likely the ABS. Batteries need replaced.
To replace these, leave the controller powered on. Unplug the old batteries, and plug in and mount the new batteries. If the controller is powered off to replace these origin will need to be conducted again.
Battery Locations:
TS Series: A single battery is located near the top of the TS controllers
RCX240 Series: Typically a battery for every axis is used or needed. These are held in black holders and plug in below the ROB I/O cable connections.
RCX340 Series: A battery per axis used is needed. These batteries are along the bottom of the controller. The metal tray with a thumb screw located below the black motor plug connector. Remove the old batteries and click in the new batteries and re-install the bottom cover.
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