How long does it take to setting the reference position?

This is a basic task that takes about 15 minutes across 6 steps.

What should I do before starting?

Robot is currently correctly mastered.

Confirm current mastering is accurate. Verify mastering with a known program point before recording a new reference position from it.

Mastering & calibration

For a technician establishing a second, easy-to-reach checkpoint used to quickly verify mastering without needing the full zero-position fixture.

Basic~15 min6 steps

1
Confirm current mastering is accurate
Verify mastering with a known program point before recording a new reference position from it.
2
Jog to a repeatable, accessible pose
Choose a position that is easy to reach and easy to visually confirm, such as fully retracted or a marked home pose.
3
Open the reference position menu
On the pendant, go to System, Mastering/Cal, and select the reference position option.
4
Record the position
Save the current joint angles as the reference position.
5
Label the position for operators
Document the pose, ideally with a photo, so operators can visually confirm it during quick checks.
6
Test the reference check
Move the robot away and jog back to the reference position, comparing the readout to the recorded values.

How long does it take to setting the reference position?: This is a basic task that takes about 15 minutes across 6 steps.
What tools do I need?: You will need Teach pendant.
What should I do before starting?: Robot is currently correctly mastered.
What is the first step?: Confirm current mastering is accurate. Verify mastering with a known program point before recording a new reference position from it.