ABB IRB 4400/60 Product Manual page 270

5 Calibration
5.5 Updating revolution counters
Continued
label, located either on the lower arm, underneath the flange plate on the base or
on the frame.
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 4400
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 TPU
Use this procedure to update the revolution counter with the TPU (BaseWare 4.0).
1
2
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270
Action
Press the button Miscellaneous then ENTER to select the service
window.
xx0100000194
Select Calibration from the View menu.
The Calibration window appears.
If there is more than one unit connected to the manipulator, they will
be listed in the window.
xx0100000201
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Axis 4
No
Axis 6
No
Note
Product manual - IRB 4400
3HAC022032-001 Revision: Q