Updating Revolution Counters - ABB IRB 1600 - 5/1,2 type A Product Manual

5.5. Updating revolution counters

General
This section details how to perform a rough calibration of each robot axis, that is updating the
revolution counter value for each axis, using the pendant.
Step 1 - 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.
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 can be
calibrated at the wrong turn, resulting in wrong calibrated robot.
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 correct calibration position will be lost due to
uneven gear ratio. This affects the following robots:
Robot variant
IRB 1600
If the calibration marks seem to be wrong (even if the motor calibration data is correct), try
to rotate the axis one turn, update the revolution counter and check the calibration marks
again (try both directions, if needed).
Step 2 - Storing the revolution counter setting with the FlexPendant
This procedure details the second step when updating the revolution counter; storing the
revolution counter setting with the FlexPendant (RobotWare 5.0).
3HAC026660-001 Revision: C
Action
1. Select axis-by-axis motion mode.
2. Jog the robot to place the calibration marks
within the tolerance zone.
3. When all axes are positioned, store the
revolution counter settings.
Action
1. On the ABB menu, tap Calibration.
All mechanical units connected to the system are shown along with their calibration
status.
5 Calibration information
5.5. Updating revolution counters
Note
Shown in section
correct axis position on page
Detailed in section:
Step 2 - Storing the revolution counter
setting with the FlexPendant on page 225
(RobotWare 5.0).
Axis 4
No
Calibration scales and
222.
Axis 6
Yes
Continues on next page
225