[Schunk_lwa4d] How to reset joint angles to zero ?

[Ghost-CBC]

My manipulator is LWA4D.
This morning I send wrong joint positions to lwa4d by mistake, it moved quickly.
Before the arm occur self collision, I press the emergency power down button.
Then I power on again, the driver of the manipulator send back wrong angles of the arm.
Joint1 and joint2 have 45 degree error.
Any body know how to use PEAK-CAN with ROS to reset?
Thanks.

[destogl]

This can be done using Schunk configuration software.