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5.2.3 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 the
program
CALxxxx in the
Step
system software
Using the
Jogging window
on the teach
Step
pendant
3HAC021111-001 Revision: B
•
Using the program CALxxxx in the system software (xxxx signifying the robot type;
IRB xxxx)
•
Using the Jogging window on the teach pendant
Action
1.
Run the program \SYSTEM\UTILITY\SER-
VICE\CALIBRAT\CALxxxx in the system and fol-
low the instructions displayed on the teach
pendant.
2.
Switch to MOTORS OFF when the robot stops.
Check that the calibration marks for that particu-
lar axis align correctly. If they do not, update the
revolution counters.
3.
Check that resolver offset values in the system
parameters match those on the parameter disk
delivered with the robot or those established
when calibrating the robot (after a repair, etc).
Action
1.
Open the Jogging window.
2.
Choose running axis-by-axis.
3.
Manually run the robot axis to a position where
the resolver offset value read, is equal to zero.
4.
Check that the calibration marks for that particu-
lar axis align correctly. If they do not, update the
revolution counters !
5 Calibration, M2000
5.2.3 Checking the calibration position
Button
Calibration marks are shown in
section Calibration scales and
correct axis position on page
102.
Detailed in section Updating the
revolution counters on page 127.
Illustration
xx0100000195
xx0100000196
Shown in section Calibration
scales and correct axis position
on page 102.
Detailed in section Updating the
revolution counters on page
127.
105
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