ABB IRB 8700 Product Manual page 698

5 Calibration
5.3 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 8700
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).
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Action
On the ABB menu, tap Calibration.
xx1500000942
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Axis 4
Yes
Axis 6
Yes
Product manual - IRB 8700
3HAC052853-001 Revision: M