Zeroing Of Joints - Universal Robots E Series Service Manual

4.1.11 Zeroing of joints

When a joint has been replaced and verified it may be necessary to zero the joint so that it is
aligned with the rest of the robot arm. There are two ways this can be done.
•
Automatically - Dual robot calibration – this is recommended method as it is done via
controlled procedure and removes human errors.
Please consult Calibration manual for this process.
•
Manually - Access Expert mode and use a spirit level, to level the joint.
The following step guides how to zero the joint(s) manually.
1. Power on the robot and ensure the brakes are released.
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