[Albert]

As you can see in the pictures, joint 2 is set to +90 deg for the home position. This is not normal for a Motoman robot, usually all axes should be zero for the same home position.

In any case, you can adjust it in the parameters section of your robot:

1. Double click the robot
   
2. SelectParameters
   
3. SelectUnlock advanced options
   
4. Set Theta 2 to 180 deg (it is currently -90 deg)
   

You can also adjust the joint senses by selectingJoint sensesin the parameters menu.