Updating Revolution Counters - ABB M2000 Product Manual

5 Calibration information

5.5. Updating revolution counters

5.5. Updating revolution counters
General
This section details how to perform a rough calibration of each robot axis, i.e. updating the
revolution counter value for each axis, using either the TPU or the FlexPendant.
Manually running the robot to the calibration position
This procedure details the first step when updating the revolution counter; manually running
the robot to the calibration position.
Step
Correct calibration position of axis 4 and 6
When running the robot to calibration position, it is extremely important to make sure that
axes 4 and 6 of the below mentioned robots are positioned correctly. The axes do not have
any mechanical stops and can therefore be calibrated at the wrong turn.
Make sure the axes are positioned according to the correct calibration values, not only
according to the calibration marks. The correct values are found on a label, located either on
the lower arm or underneath the flange plate on the base.
At delivery the robot is in the correct position, do NOT rotate axis 4 or 6 at power up before
the revolution counters are updated.
If one of the below mentioned axes are rotated one or more turns from its calibration position
before updating the revolution counter, the exact calibration position will be lost due to
uneven gear ratio. This affects the following robots:
Robot variant
IRB 140
168
Action
1. Select axis-by-axis motion mode.
2. Jog the robot so that the calibration marks lie
within the tolerance zone.
3. When all axes are positioned, store the
revolution counter settings.
Note
Shown in section
and correct axis position
166.
Detailed in sections:
Storing the revolution counter setting
with the TPU
(RobotWare 4.0).
Storing the revolution counter setting
with the FlexPendant
(RobotWare 5.0).
Axis 4
Yes
Calibration scales
on page
on page 169
on page 170
Axis 6
Yes
3HAC023297-001 Revision: A