Checking The Calibration Position - ABB IRB 6650S - 200/3.0 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 TPU, S4Cplus
This section describes how to create a program, which runs all the robot axes to their zero
position
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.
3HAC020993-001 Revision: G
• Using a MoveAbsJ instruction with argument zero on all axes.
•
Using the Jogging window on the teach pendant.
Action
1. Create a new program.
2. Use MoveAbsJ.
3. Create the following program: MoveAbsJ
[[0,0,0,0,0,0],[9E9,9E9,9E9,9E9,9E9,
9E9]]\NoEOffs, v1000, z50, Tool0
4. Run the program in manual mode.
5. Check that the calibration marks for the axes align
correctly. If they do not, update the revolution
counters!
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!
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 370
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 370.
Continues on next page
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