Reading The Exact Position - ABB IRC5 with FlexPendant Operating Manual

4.6.9 Reading the exact position

About positions and revolution counters
The exact position of the robot is determined using the position of the resolvers
and counters that count the number of resolver revolutions. These are called
revolution counters.
If the robot is correctly calibrated then the current position is automatically
calculated at start.
How robot positions are displayed
Positions are always displayed as:
How additional axes' positions are displayed
When an additional axis is moved, only the axis position is displayed.
Linear axis positions are displayed in millimeters expressed as the distance to the
calibration position.
Rotating axis positions are displayed in degrees expressed as the angle to the
calibration position.
Reading the exact position
This procedure describes how to read the exact position.
1
Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
CAUTION
If the positions are displayed in red text then the values from the revolution
counters are lost and instead the values stored on the SMB are displayed. Be
careful when jogging the robot if the values are displayed in red text. Watch the
robot closely and do not use the displayed values! If the mechanical unit is
uncalibrated then the actual position can be very different from the position
values stored by the SMB. You must update the revolution counters before a
program can be started. See
Note
If no positions are displayed then the mechanical unit is uncalibrated. Instead
the text Selected mechanical unit is not calibrated is displayed.
Note
When updating the revolution counters, the ongoing RAPID instruction or function
is interrupted, and the path is cleared.
• The point in space expressed in the x, y, and z tool center point coordinates.
• The angular rotation of the tool center point expressed in Euler angles or as
a quaternion.
Action
On the ABB menu tap .Jogging.
© Copyright 2018 ABB. All rights reserved.
4.6.9 Reading the exact position
Updating revolution counters on page
4 Jogging
296.
Continues on next page
143