User Guide

5.6 Reset the Zero Points of the Joints
The joint modules 1 to 4 keep track of their position using incremental encoder. The
joint electronics stores these positions in their non volatile memory, so that the
robot is aware of his current position after being switched on. Joints 5 and 6 provide
absolute position encoder, there is no need to store the current position.
It may happen that the stored values are not correct, then 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 the zero position using the joint mode.
The sticker on the axis provide assistance, their triangles should be aligned with the
structures marks.
Pic. 11: Zero Position of the Mover6
If it is, e.g. due to the software end stops, not possible to reach the zero position, it
helps to reset the joints to zero in an intermediate position.
The calibration defines the current hardware joint values of joint 1 to 4 as zero
position.