UFactory XARM User Manual page 149

【Aligning】
After clicking this button, the tool flange will be adjusted to a
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horizontal attitude, that is, pitch and roll will be adjusted to the fixed
values of 0 ° and 180 °.
1.5.8 Zero Position, Initial Position
【ZERO POSITION】
Indicates all joint angles values are zero.
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Long press the button of Zero Position to return the robotic arm to the
posture of Zero Position.
User can click【Settings】—【Motion Settings】—【Initial Position】on
the homepage to set the Initial Position.
Click【ZERO POSITION】【INITIAL POSITION】for step motion, long press
them for continuous motion.
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