User Guide

5.5 Reset the Zero Points of the Joints

The joint modules of the Mover4 store the last joint value in their memory, so the

robot is aware of his current position after being switched on. But if these values are

not corret, the joints need to be calibrated. Reasons may be:

• Turning the joints while the robot is without power supply

• Stopping the robot with the emergency stop during a motion

• …

To calibrate the robot it has to be jogged into a perpendicular position using the joint

mode. The sticker on the axis provide assistance, their triangles should be aligned

with the structures marks.

The press the button „Reset joints to zero“ and confirm the

following dialog with „OK“.

This function takes back the motor enabling, so the error reset and

enable motor buttons have to be pressed.

The precision of the calibration is vital for replaying old

programs. If theses old programs (recorded before the

calibration) show precise motions close to the environment

they have to be replayed slowly the first time. It may be

necessary to re-teach positions.