Resetting Revolution Counters

Hey Guys,

I have a question in regards to resetting the revolution counters on a 6670. I was wondering if it is possible to reset 1 axis at a time, or does it have to be all 6. The end of arm tooling on the robot does not allow me to bring axis 5 all the way to 0, in hopes of not having to remove it, I wanted to do 1 axis at a time if possible but I can not see where I would be able to do that.

I was trying to move jobs from 1 robot to another robot (Both are 6670s, in an identical cell) In turn I lost the revolution counters. Any advice would be welcomed. 

Thanks in advance.