ABB IRB 140 Product Manual page 221

At delivery the manipulator is in the correct position, do NOT rotate axis 4 or 6 at
power up before the revolution counters are updated.
If one of the following mentioned axes are rotated one or more turns from its
calibration position before updating the revolution counter, the correct calibration
position will be lost due to non-integer gear ratio. This affects the following
manipulators:
Manipulator variant
IRB 140
If the synchronization marks seem to be wrong (even if the motor calibration data
is correct), try to rotate the axis one turn, update the revolution counter and check
the synchronization marks again (try both directions, if needed).
Step 2 - Updating the revolution counter with the FlexPendant
Use this procedure to update the revolution counter with the FlexPendant (IRC5).
1
Product manual - IRB 140
3HAC027400-001 Revision: V
Action
On the ABB menu, tap Calibration.
xx1500000942
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5 Calibration information
5.5 Updating revolution counters
Axis 4
Yes
Continued
Axis 6
Yes
Continues on next page
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