How to reset the joint servo zero point?

Product: XF1304, XI1304, XS1304, UF 850

UFactory Studio: 2.4.0+

Please contact technical support<[e-mail]>for confirmation before resetting; otherwise the warranty may be affected.

Preparation

Joint3-xArm6/xArm5

1. Move all the end effectors, and set TCP payload as 0.

2. Place the arm horizontally on the table like the image below(J3 around -175 degree), make sure J4J5J6 is suspended, and 1 person to hold the arm to make sure it will not move.

Joint4-xArm7/UF850

1. Move all the end effectors, and set TCP payload as 0.

2. Move the arm back to zero position.

Reset command

1. Press down the E stop button and release.

2. Don't enable the robot. Send H101D080CV1I* via 'Settings-General-Debugging Tools-Joint', J* will move slightly, you will hear a sound like 'click' and J* don't move any more, indicating the reset process is over, then press down the E stop button and release. (* stands for joint ID, for example joint4 - H101D080CV1I4)

3. Reboot the entire system, and enable the robot.

4. Unlock Joint * via 'Settings-General-Debugging Tools-Joint', move joint* to its original zero position, send 'D13 I*', press down the E stop button and release to take effect, it will set the current position of Joint* as 0°.