Checking The Calibration Position - ABB IRB 140 Product Manual

5 Calibration information

5.6 Checking the calibration position

5.6 Checking the calibration position
Introduction
Check the calibration position before beginning any programming of the robot
system. This may be done:
Using a MoveAbsJ instruction
Use this procedure to create a program that runs all the robot axes to their zero
position.
1
2
3
4
5
6
Using the jogging window
Use this procedure to jog the robot to the zero position of all axes.
1
2
3
4
5
202
• Using a MoveAbsJ instruction with argument zero on all axes.
• Using the Jogging window on the FlexPendant.
Action
On ABB menu tap Program editor.
Create a new program.
Use MoveAbsJ in the Motion&Proc menu.
Create the following program:
MoveAbsJ [[0,0,0,0,0,0],
[9E9,9E9,9E9,9E9,9E9,9E9]]
\NoEOffs, v1000, z50, Tool0
Run the program in manual mode.
Check that the calibration marks for the axes align
correctly. If they do not, update the revolution
counters.
Action
On the ABB menu, tap Jogging.
Tap Motion mode to select group of axes
to jog.
Tap to select the axis to jog, axis 1, 2, or
3.
Manually run the robots axes to a position
where the axis position value read on the
FlexPendant, is equal to zero.
Check that the calibration marks for the
axes align correctly. If they do not, update
the revolution counters!
© Copyright 2004-2013 ABB. All rights reserved.
Note
See Calibration scale and correct
axis position on page
ing revolution counters on page
Note
See Calibration scale and correct axis pos-
ition on page 198, and Updating revolution
counters on page 200.
3HAC027400-001 Revision: K
198, and Updat-
200.