Updating Revolution Counters - ABB IRB 6620 Product Manual

5.3 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.
Revolution indicator
The IRB 6620/IRB 6620 LX (not Foundry version) is equipped with a revolution
indicator on axis 4.
Location
The revolution indicator is located as shown in figure.
xx1500002405
Function
Before doing an update of the revolution counter, the revolution indicator must be
checked.
The green side of the indicator shall point towards axis centre.
The indicatior shows if axis 4 is turned correctly or has been rotated more than
±360°. If the indicator has been turned, the robot has to be jogged manually in the
Product manual - IRB 6620
3HAC027151-001 Revision: T
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5 Calibration
5.3 Updating revolution counters
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