Method of adjusting origin of industrial robot

A method of adjusting an origin of an industrial robot, said method comprising:

• providing an industrial robot which includes
• a first member having an accommodation hole,
• a positioning member attached to the first member and being positionable in the accommodation hole,
• a second member being rotatable relative to the first member, the second member having a contact point being operable to contact the positioning member,
• a first joint for coupling the first member with the second member;
• wherein said positioning member has a first position in which said positioning member protrudes from said first member such that the positioning member is operable to contact the contact point, and a second position in which said positioning member is disposed in the accommodation hole and is not operable to contact the contact point;
• displaying a first indication to place the positioning member in the first position;
• after said displaying the first indication, placing the positioning member in the first position;
• after said placing the positioning member in the first position, rotating the second member at the first joint relative to the first member while the positioning member is in the first position;
• during said rotating the second member, detecting whether or not the contact point of the second member is in contact with the positioning member;
• storing a position of the second member as the origin when the contact point of the second member is in contact with the positioning member;
• after said storing the position of the second member, positioning the contact point at a predetermined position where the contact point does not contact the positioning member;
• displaying a second indication to place the positioning member in the second position;
• after said displaying said second indication, placing the positioning member in the second position.