This guide shows how to recalibrate the robot zero position after event message 2032.
‍

When this is required

• After restarting the robot
• After long power loss
• After disconnecting the robot
• When encoders lose position reference

‍

The robot cannot operate until the revolution counters are updated.
‍

Move Axes to Zero Position

You must physically align the robot before updating counters.
‍

Using the FlexPendant:

• Enter Jogging mode
• Jog each axis individually
• Move every axis close to its zero mark
• Align mechanical markers (blocks/lines depending on axis)
• Stay within one motor step of the zero position
  ‍

Important:

• Do NOT use linear movement
• Use axis movement modes:
  • Axes 1–3
  • Axes 4–6
    ‍

Open Calibration Menu
‍

On the FlexPendant:

• Go to Calibration
• Select Robot Calibration
• Open Revolution Counter
  ‍(The menu name may vary slightly depending on RobotWare version)
  ‍

Update the Revolution Counters

Before updating:

• Motors must be OFF
  ‍

Then:

• Select axes marked as not updated
• Press Update
  ‍

Verify the Update

Return to the Jogging view

• Red axis → not calibrated
• Black axis → calibrated

If all axes are black → calibration successful.
‍

The robot is now ready for normal operation.