Checking The Calibration Position; Alternative Calibration Positions - ABB IRB 640 Product Manual

Repairs

9.5 Checking the calibration position

There are two ways to check the calibration position; both are described below.
Using the diskette, Controller Parameters:
Run the program \ SERVICE \ CALIBRAT \ CAL 640 on the diskette and follow the instruc-
tions displayed on the teach pendant. When the robot stops, switch to MOTORS OFF. Check
that the calibration marks for each axis are at the same level, see Figure 17. If they are not,
the setting of the revolution counters must be repeated.
Using the Jogging window on the teach pendant:
Open the Jogging window
the robot so that the read-out of the positions is equal to zero. Check that the calibration
marks for each axis are at the same level, see Figure 17. If they are not, the setting of the
revolution counters must be repeated.

9.6 Alternative calibration positions

Before it can be calibrated in one of the two alternative positions, the robot must have been
calibrated with calibration equipment at calibration position 0 for all axes (the robot is deliv-
ered with calibration position 0). See Figure 23.
Figure 23 Calibration positions 0, 1 and 2 (Normal, Right and Left).
Note!
If the final installation makes it impossible to reach the calibration 0 position, an alternative
calibration position must be set before installation.
Product Manual IRB 640
and choose running axis-by-axis. Using the joystick, move
o
Cal.pos. 2 +90
Y
Left (1.570796)
Right (-1.570796)
o
Cal.pos. 1 -90
Calibration
X
Cal.pos. 0
55