Verifying The Calibration Position - ABB IRB 14000 Operating Manual

4 Calibration

4.4 Verifying the calibration position

4.4 Verifying the calibration position
Introduction
Verify the calibration position of the robot 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
calibration position.
1
2
3
4
5
6
Using the jogging window
Use this procedure to jog the robot to the calibration position for all axes.
1
2
3
4
5
56
• Using a MoveAbsJ instruction with argument according to calibration position
degrees 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 for the right arm:
MoveAbsJ [[0,-130,30,0,40,0], [-
135,9E9,9E9,9E9,9E9,9E9]]
\NoEOffs, v1000, fine, tool0;
Create the following program for the left arm:
MoveAbsJ [[0,-130,30,0,40,0],
[135,9E9,9E9,9E9,9E9,9E9]]
\NoEOffs, v1000, fine, tool0;
Run the program in manual mode.
Verify that the calibration marks for the axes align
correctly. If they do not, then 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 the calibration
position degrees.
Verify that the calibration marks for the
axes align correctly. If they do not, then
update the revolution counters!
© Copyright 2015-2018 ABB. All rights reserved.
Note
See Calibration scale and correct
axis position on page 48
ing revolution counters on page
Note
Degrees are specified in Exact axis posi-
tions in degrees on page
See Calibration scale and correct axis pos-
ition on page 48 and Updating revolution
counters on page 50.
Operating manual - IRB 14000
3HAC052986-001 Revision: E
and Updat-
50.
49.