However I was not able to zero J2, but that's just because I'm not sure extending J2 that far forward is safe with my current mount. I would prepare a better base for the robot then would do J2 again. "Better safe than sorry".
Yes, if the robot is not adequately mounted/secured then zeroing ALL joints at the correct posture at the same time can be difficult which is the below image posture:
You can also re-zero individual joints too using the same method, just by typing in the relative JT no. required.
So you could move JT3 to the vertical position (if you have room), re-zero JT2 and then move JT2 all the way back and re-zero JT3 as per the 2 below images.
Btw, should yellow warning light come on when motors are on?
Or it is in repeat-cycle mode only?
If you are referring to the lamp mounted on the arm, then this is the 'Servo On' lamp indicating the robot is live, even if it's not moving.
This is connected directly to the MC Unit X322.
p.p.s. Submitted Kawasaki documentation access request a week ago, no answer, id not activated
You may be better contacting KRI directly, as I mentioned they are very approachable and I'm sure they would supply all relative information.
If you can post a recent backup after zeroing - even if it's not 100% zero'd in then I can introduce you to the ArmID.
Just remember when you reload the backup in (after I have modified it), be aware any changes you make between sending it me and loading it back in may be lost.