Reset The Zero Points Of The Joints - Commonplace Robotics Mover 4 User Manual

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5.6 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 correct, 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.
Connect with the hardware. This step initializes the USB-CAN
interface.
The LED on the left side of CPRog changes color from grey to red.
Below the LED several error messages are displayed.
Reset the errors. This button resets the error memory of the joint
module controller in the robot. The joint values are copied from the
real robot to the simulation environment.
The 3D visualization of the robot has to match the current pose
of the real robot now. This has to be verified every time the
errors are reset!
The LED stays red. The error messages get cleared, only "Motors
not enabled" is remaining.
If further error messages remain visible try again and see section
11.3 for possible approaches.
Enable the motors. Now the robot can be jogged as described
above.
The LED is green now.
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