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5.3.9 Updating the revolution counters
Manually running
This section details the first step when updating the revolution counter; manually running the
the manipulator
manipulator to the calibration position.
to the calibration
position
Step
Storing the
This section details the second step when updating the revolution counter; storing the revolu-
revolution
tion counter setting.
counter setting
CAUTION!
If a revolution counter is incorrectly updated, it will cause incorrect robot positioning, which
in turn may cause damage or injury!
Check the calibration very carefully after each update!
Step
3HAC021111-001 Revision: B
Action
1.
Select axis-by-axis motion mode.
2.
Press the enabling device on the teach pendant
and, using the joystick, move the robot manually
so that the calibration marks lie within the toler-
ance zone.
3.
Note that axis 6 does not have any mechanical
stop and can thus be calibrated at the wrong
faceplate revolution. Do not operate axis 6 man-
ually before the robot has been calibrated.
4.
When all axes are positioned as above, store the
revolution counter settings using the Teach Pen-
dant Unit as detailed below:
Action
1.
Press the button "Miscella-
neous".
2.
Select the Service win-
dow by pressing ENTER.
3.
Select Calibration from
the View menu.
The Calibration window
appears.
If there is more than one unit
connected to the robot, they
will be listed in the window.
5 Calibration, M2000
5.3.9 Updating the revolution counters
Illustration
Shown in section Calibration
scales and correct axis position
on page 102.
Illustration
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127
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