Checking The Synchronization Position - ABB IRB 140 Product Manual

5 Calibration information

5.6 Checking the synchronization position

5.6 Checking the synchronization position
Introduction
Check the synchronization 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
synchronization position.
1
2
3
4
5
6
Using the jogging window
Use this procedure to jog the robot to the synchronization position of all axes.
1
2
3
4
5
224
• Using a MoveAbsJ instruction with argument zero 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:
MoveAbsJ [[0,0,0,0,0,0],
[9E9,9E9,9E9,9E9,9E9,9E9]]
\NoEOffs, v1000, fine, tool0
Run the program in manual mode.
Check that the synchronization marks for the axes
align correctly. If they do not, update the revolu-
tion 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 zero.
Check that the synchronization marks for
the axes align correctly. If they do not, up-
date the revolution counters.
© Copyright 2004-2018 ABB. All rights reserved.
Note
See Synchronization marks and
synchronization position for axes on
page 218 and Updating revolution
counters on page 220.
Note
See Synchronization marks and synchron-
ization position for axes on page 218
Updating revolution counters on page
Product manual - IRB 140
3HAC027400-001 Revision: V
and
220.