Updating Revolution Counters - ABB IRB 4400/60 Product Manual

5.5 Updating revolution counters

Introduction
This section describes how to do a rough calibration of each manipulator axis by
updating the revolution counter for each axis, using the FlexPendant.
Coupled axes
When updating the revolution counters for a coupled axis, also the axis it is coupled
to needs to be at its synchronization position for the update to be correct; i.e. axis
4 needs to be in synchronization position when updating axis 5 and 6.
With reversed coupled joints, the relationship is the opposite, i.e. axis 4 needs to
be in synchronization position to update axis 3.
Coupled axes
Axis 4, 5, 6
Axis 5, 6
Axis 4, 3
Step 1 - Manually running the manipulator to the synchronization position
Use this procedure to manually run the manipulator to the synchronization position.
1
2
3
Correct calibration position of axis 4 and 6
When jogging the manipulator to synchronization position, it is extremely important
to make sure that axes 4 and 6 of the following mentioned manipulators are
positioned correctly. The axes can be calibrated at the wrong turn, resulting in an
incorrect manipulator calibration.
Make sure the axes are positioned according to the correct calibration values, not
only according to the synchronization marks. The correct values are found on a
Product manual - IRB 4400
3HAC022032-001 Revision: Q
x
x x
Action
Select axis-by-axis motion mode.
Jog the manipulator to align the synchron-
ization marks.
IRB 140, 1400, 2400, 4400, 6600ID/6650ID,
6640ID: Axes 5 and 6 must be positioned
together!
When all axes are positioned, update the
revolution counter.
© Copyright 2004-2018 ABB. All rights reserved.
5.5 Updating revolution counters
x x
x x
x
Note
See Synchronization marks and synchron-
ization position for axes on page
Step 2 - Updating the revolution counter
with the TPU on page 270
Step 2 - Updating the revolution counter
with the FlexPendant on page
5 Calibration
x x x x
x
266.
(BaseWare 4.0).
272.
Continues on next page
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