# Robot to initial position

**URL:** <https://tech-community.robotics.abb.com/t/robot-to-initial-position/8792>\
**Category:** RAPID Programming\
**Created:** [April 16, 2019, 4:11pm UTC](https://tech-community.robotics.abb.com/t/robot-to-initial-position/8792 "2019-04-16T16:11:57Z")\
**Posts on this page:** 6\
**Page:** 1

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**Author:** ![Vale](https://avatars.discourse-cdn.com/v4/letter/v/9de053/32.png) [@Vale](https://tech-community.robotics.abb.com/u/Vale)\
**Post date:** [April 16, 2019, 4:11pm UTC](https://tech-community.robotics.abb.com/t/robot-to-initial-position/8792/1 "2019-04-16T16:11:57Z")

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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!

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**Author:** ![soup](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/soup/32/1592_2.png) [@soup](https://tech-community.robotics.abb.com/u/soup)\
**Post date:** [April 16, 2019, 5:50pm UTC](https://tech-community.robotics.abb.com/t/robot-to-initial-position/8792/2 "2019-04-16T17:50:48Z")

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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.

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**Author:** ![lemster68](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/lemster68/32/1945_2.png) [@lemster68](https://tech-community.robotics.abb.com/u/lemster68)\
**Post date:** [April 16, 2019, 7:26pm UTC](https://tech-community.robotics.abb.com/t/robot-to-initial-position/8792/3 "2019-04-16T19:26:38Z")

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

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**Author:** ![nomad5t5](https://avatars.discourse-cdn.com/v4/letter/n/34f0e0/32.png) [@nomad5t5](https://tech-community.robotics.abb.com/u/nomad5t5)\
**Post date:** [April 26, 2019, 1:29pm UTC](https://tech-community.robotics.abb.com/t/robot-to-initial-position/8792/4 "2019-04-26T13:29:15Z")

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

PROC MoveToSync()

MoveAbsJ jSyncPos,v100,fine,tool0;

ENDPROC

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<div class="post-metadata">

**Author:** ![soup](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/soup/32/1592_2.png) [@soup](https://tech-community.robotics.abb.com/u/soup)\
**Post date:** [April 29, 2019, 3:40pm UTC](https://tech-community.robotics.abb.com/t/robot-to-initial-position/8792/5 "2019-04-29T15:40:10Z")

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@nomad5t5 @Vale FYI: I’ve never seen the “zero” or “sync” position used as the original shipping position…

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**Author:** ![nomad5t5](https://avatars.discourse-cdn.com/v4/letter/n/34f0e0/32.png) [@nomad5t5](https://tech-community.robotics.abb.com/u/nomad5t5)\
**Post date:** [May 2, 2019, 2:42pm UTC](https://tech-community.robotics.abb.com/t/robot-to-initial-position/8792/6 "2019-05-02T14:42:07Z")

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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:

 ![image.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/1X/94bdb8c44a7d67021ba7250845e9fb0f308c3f83.png)