Checking The Calibration Position - ABB IRB 6620 - 150/2.2 Product Manual

5 Calibration information

5.6. Checking the calibration position

5.6. Checking the calibration position
General
Check the calibration position before beginning any programming of the robot system. This
may be done:
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.
256
• 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 axis 1-3 to jog axis 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!
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 254.
Note
The calibration marks are shown in section
Calibration scales and correct axis position
on page 252.
How to update the counters is detailed in
section Updating revolution counters on
page 254.
3HAC027151-001 Revision: B
252.