Checking The Calibration Position - ABB IRB 7600 Series Product Manual

5 Calibration information

5.6. Checking the calibration position

5.6. Checking the calibration position
Introduction
Check the calibration position before beginning any programming of the robot system. This
may be done:
Using a MoveAbsJ instruction on the TPU, S4Cplus
Use this procedure to create a program that runs all the robot axes to their zero position
1. Create the following program:
2. Run the program in manual mode.
3. Check that the calibration marks for the axes align
Using a MoveAbsJ instruction
Use this procedure to create a program that runs all the robot axes to their zero position.
1. On ABB menu tap Program editor.
2. Create a new program.
3. Use MoveAbsJ in the Motion&Proc menu.
4. Create the following program:
5. Run the program in manual mode.
6. Check that the calibration marks for the axes align
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• Using a instruction with argument zero on all axes.
MoveAbsJ
• Using the Jogging window on the FlexPendant.
Action
MoveAbsJ [[0,0,0,0,0,0], [9E9,
9E9,9E9,9E9,9E9,9E9]]
\NoEOffs, v1000, z50, Tool0
correctly. If they do not, update the revolution
counters.
Action
MoveAbsJ [[0,0,0,0,0,0],
[9E9,9E9,9E9,9E9,9E9,9E9]]\
NoEOffs, v1000, z50, Tool0
correctly. If they do not, update the revolution
counters.
Note
See Calibration scale and correct
axis position on page 406, and
Updating revolution counters on
page 408.
Note
See Calibration scale and correct
axis position on page 406, and
Updating revolution counters on
page 408.
Continues on next page
3HAC022033-001 Revision: K