Updating Revolution Counters; Manually Moving The Manipulator To The Calibration Position - ABB IRB 14000 Product Manual

5 Calibration

5.5 Updating revolution counters

5.5 Updating revolution counters
Introduction
This section describes how to do a rough calibration of each robot axis, which
updates the revolution counter value for each axis using the FlexPendant.
The procedure can be summarized accordingly:
Each step is described in detail in following sections.
Step 1 - Manually moving the manipulator to the calibration position
1
2
Step 2 - Selecting the Calibration with hall sensors (CalHall) routine
1
2
3
4
5
6
7
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1 Manually move the manipulator to the calibration position.
2 Select the Calibration with hall sensors (CalHall) routine.
3 Select the function Update of revolution counters.
4 Store the revolution counter setting.
Action
CAUTION
When releasing the holding brakes, the robot axes
may move very quickly and sometimes in unex-
pected ways!
Release the brakes of the robot arm to be calib-
rated and move the arm manually so that the
synchronization mark of each joint is aligned.
The robot now stands in its calibration position.
Action
Open the Program Editor on the FlexPendant.
Select the task that corresponds to the robot arm
to be calibrated. Tap Open.
If necessary, create a new program. This needs
to be done if no existing program is available.
Select Debug and tap PP to Main.
Select Debug and tap Call Routine...
Select CalHall.
Go to Motor On and press the Start button.
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Note
The synchronization marks are
shown in Calibration scale and
correct axis position on page
There is a tolerance for the joint
position. The edge of a mark
should be at least within the area
of the opposite mark.
Note
Product manual - IRB 14000
3HAC052983-001 Revision: D
419.