Robot to initial position

Vale

Hello to everybody!

I would like to move the robot to its initial position, I mean to the position at which the robot is when you buy it.
I know that the axis values are written on the robot arm and when I powered on for the first time the robot in calibration offset I checked to find exactly that values.

Does anybody knows how I can move again the robot to that position?
I tried to write a MoveAbsJ instruction, using as values the ones written on the robot arm, but in practice the position I find is different from the "original" one.

Thanks! 

soup

Hey -- I've done that before -- called it jShippingPos. You're right to think MoveAbsJ. Use the pendant's Jog menu, jog in joint, and see the joint values change as you jog.

lemster68

The calibration offsets do not correspond to the joint angles.  The best I can remember is that they are offset values from the resolver.

nomad5t5

PERS JointTarget jSyncPos:=[[0,0,0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

PROC MoveToSync()

       MoveAbsJ jSyncPos,v100,fine,tool0;

ENDPROC

soup

@nomad5t5 @Vale   FYI: I've never seen the "zero" or "sync" position used as the original shipping position...

nomad5t5

Sorry, I misread the post.  The same code applies but the joint angles will be different depending on the model.  They can be found in the robot product manual, like so: