ABB IRB 6620 Product Manual page 316

5 Calibration
5.3 Updating revolution counters
Continued
position will be lost due to non-integer gear ratio. This affects the following
manipulators:
Manipulator variant
IRB 6620
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).
1
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Action
On the ABB menu, tap Calibration.
xx1500000942
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Axis 4
Yes
Axis 6
No
Product manual - IRB 6620
3HAC027151-001 Revision: T