ABB IRB 660 Product Manual page 104

3 FlexGripper UI
3.2.3.1. Position Tune
Continued
Robot target edit
Action
Add target
Teach target
Target position
offset
102
Procedure
Touch the Add target button, in the screen shown, the left side shows the
target contribution, ie Task, Type, the right side shows the target list with
the module described. Select the target needed, which is then ticked in
the square before its name.
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The targets listed are selected by default. Touch the target to remove the
tick and deselect a target. Select OK, the selected targets are added to
the Choose robot target column.
Touch the Teach button, the selected robot target position is taught.
Meanwhile the corresponding parameters of the TCP are automatically
loaded into the Pos offset column.
After target teach, if the robot doesn't reach the exact position, the offset
function can be used to fine tune the robot target.
In the Pos offset column, touching the plus sign increases the position in
mm and the minus sign decreases it. The increment unit can be adjusted
in 0.1mm, 0.5mm, 1mm or 5mm. After the offset, touch Apply, the offset
target is saved.
3HAC040633-002 Revision: -