On the delivery auto zero is not completely automatic. Mark the motors, enter, then go and use the buttons to move all motors to zero. + in the menu disappears.
Take a screenshot of the error messages, please. What machine is it, what year, what series?
If I guessed correctly, the infrared thermal sensor above the delivery pallet.
I don't understand what exactly you want to change, but pay attention to the position of the two arms of the grabbers. They must be at the same height. It must be done with a special tool.
Loosen the motor. Position the rake in the upper position (0.5 mm to the sensor). Start the machine. Clear the errors. Tighten the motor.
3 PU too many positioning errors. Check the POS2 communication board.
This is a new installation or a working machine.
This is the rake of the turner. It has 2 positions. Up when the machine is not turning and down when it is turning. Both positions are set on the motor. There is a sensor. Perform auto zero.