ABB IRB 14000 Product Manual page 426

5 Calibration
5.4 Calibrating the robot
Continued
3
Checking the synchronization position of all axes
1
2
Continues on next page
426
Action
If the hall sensor can not be found, following error message is displayed.
xx1400002698
There can be several causes for this error.
• The joints are not sufficiently aligned according to the synchronization
marks. Move the joints so that the synchronization marks are aligned. Tap
OK and restart the fine calibration procedure. The joints prior to the joint
that stopped the calibration procedure are calibrated and do not need to
be calibrated again. Joints coming after the joint that stopped the calibration
procedure has not been calibrated. (Calibration order: axis 1-2-3-4-5-6-7.)
• The hall sensor is defect. Perform troubleshooting of I/O signals. Possible
replacement of hall sensor may be required.
Action
Jog each axis to its exact synchronization position
in degrees using the FlexPendant.
Check that the synchronization marks on each
axis are aligned with each other.
Are they aligned within the tolerances? The edge
of a mark should be at least within the area of the
opposite mark.
• If yes, the calibration is verified and the
robot is correctly calibrated. No more action
needed.
• If no, then move the robot to calibration
position again and repeat the fine calibra-
tion procedure.
Moving the robot to its calibration position
on page 421
Running the fine calibration procedure on
page 424
© Copyright 2015 - 2016 ABB. All rights reserved.
Note
Degrees are specified in Exact axis
positions in degrees on page
Product manual - IRB 14000
3HAC052983-001 Revision: D
420.