Updating Revolution Counters - ABB IRB 140 Product Manual

5 Calibration information

5.5 Updating revolution counters

5.5 Updating revolution counters
Introduction
This section describes how to do a rough calibration of each manipulator axis,
which is updating the revolution counter value for each axis using the FlexPendant.
Step 1 - Manually running the manipulator to the calibration position
Use this procedure to manually run the manipulator to the calibration position.
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2
3
Correct calibration position of axis 4 and 6
When running the manipulator to calibration position, it is extremely important to
make sure that axes 4 and 6 of the following mentioned manipulators are positioned
correctly. The axes can be calibrated at the wrong turn, resulting in an incorrectly
calibrated manipulator.
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, underneath the flange plate on the base or on the
frame.
At delivery the manipulator 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 following 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 manipulators:
Manipulator variant
IRB 140
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
Use this procedure to store the revolution counter setting with the FlexPendant
(IRC5).
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200
Action
Select axis-by-axis motion mode.
Jog the manipulator to place the calibration
marks within the tolerance zones.
IRB 140, 1400, 2400, 4400, 6600ID/6650ID,
6640ID: Axes 5 and 6 must be positioned
together!
When all axes are positioned, store the re-
volution counter settings.
Action
On the ABB menu, tap Calibration.
All mechanical units connected to the system are shown with their calibration status.
© Copyright 2004-2013 ABB. All rights reserved.
Note
See Calibration scale and correct axis po-
sition on page
Step 2 - Storing the revolution counter
setting with the FlexPendant on page
Axis 4
Yes
198.
200.
Axis 6
Yes
3HAC027400-001 Revision: K