Checking The Calibration Position - ABB IRB 140 type C Product Manual

5.6. Checking the calibration position

General
Check the calibration position before beginning any programming of the robot system. This
may be done in one of two ways:
Using a MoveAbsJ instruction on the FlexPendant, IRC5
This section describes how to create a program, which runs all the robot axes to their zero
position.
Using the Jogging window on the FlexPendant, IRC5
This section describes how to jog the robot to all axes zero position.
3HAC027400-001 Revision: C
• Using a MoveAbsJ instruction with argument zero on all axes.
•
Using the Jogging window on the teach pendant.
Action
1. On ABB menu tap Program Editor.
2. Create a new program.
3. Use MoveAbsJ in the Motion&Proc menu.
4. Create the following program: MoveAbsJ
[[0,0,0,0,0,0],[9E9,9E9,9E9,9E9,9E9,
9E9]]\NoEOffs, v1000, z50, Tool0
5. Run the program in manual mode.
6. Check that the calibration marks for the axes align
correctly. If they do not, update the revolution
counters!
Action
1. Tap Jogging in the ABB menu.
2. Tap Motion mode to choose group of axes to jog.
3. Tap axes 1-3 to jog axes 1, 2 or 3.
4. Manually run the robots axes to a position where
the axis position value read on the FlexPendant, is
equal to zero.
5. Check that the calibration marks for the axes align
correctly. If they do not, update the revolution
counters!
5 Calibration information
5.6. Checking the calibration position
Note
The calibration marks are shown in
section Calibration scales and
correct axis position on page
How to update the revolution
counters is detailed in section
Updating revolution counters on
page 168.
Note
The calibration marks are shown in
section Calibration scales and
correct axis position on page
How to update the counters is
detailed in section Updating
revolution counters on page
166.
166.
168.
171