Tune; Position Tune - ABB IRB 660 Product Manual

3.2.3. Tune

3.2.3.1. Position Tune

The position tune function is used to fine tune the robot target location as the pick/place
location and home location.
Note: The robot target configuration includes three elements: TASK, Storage type and Scope.
Their scopes are:
Task: T_ROB1
Storage type: Persistent and variable
Scope: Task, Global and Local
If the scope and storage type of the robot target is not correct it can not be monitored.
Touch the Tune button in the FlexGripper UI main interface, and enter the Tune interface. By
default, there are three robot targets listed: pPick, pPlace and pHome (For FlexGripper-
Vacuum, there are three more targets: pPickPallet, pSearch and pSearchEnd).
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3.2.3.1. Position Tune
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