zzero 107,zzero 7

[nuni]

hi,
what exactly is the difference between zzero 107 and zzero 7?

[selquist]

Actually not sure, but we use them both when we zero one of the joints on the robots.

First with zz 107
Second with zz 7

If not in this order, somethimes it doesn't work 

[kide]

Hello

Zz  7 (axis 7) you reset angle
Zz 107 (axis 7) you reset encoder rotation counter

Be careful with these functions!

[roboperson]

These commands were used more with earlier non HQ robots. They were replaced with AUX41 and AUX140 in the AD HQ and C controllers. In AD non HQ robots AUX41 is still used but AUX 140 was not yet used and the dip switches on the 9ZG board at the base of the robot were flipped on and off.
As stated before Zzero (axis) (example zzero 7 ) resets the angle of the motor. This puts the servo motor at zero. Zzero 10(axis number) (example zzero107) zeros the encoder rotation counter. The order these are set are important. SO :
Non HQ - 2 means. (only A and AD. E series 615 had resolvers and not encoders. totally different)
ZZero 7, are you sure? yes  Zzero 107 are you sure? yes. (BE AWARE.. THIS SOMETIMES DOES NOT WORK)
or
Flip the dip switch of the axis on the 9ZG board that corresponds to the joint. then AUX 41
AD HQ / C controllers
AUX 140; the joint number AUX 41 the joint number
D / E controllers : AUX 501,3 the joint number, AUX 501,1 the joint number
 or
.140 the joint number .41 the joint number

Best of luck!