ABB IRB 6620 Product Manual page 329

Situation
The RobotWare program is terminated with
PP to Main.
Axis Calibration with SafeMove option
To be able to run Axis Calibration SafeMove needs to be unsynchronized. The Axis
Calibration routine recognizes if the robot is equipped with SafeMove and will force
SafeMove to unsynchronize automatically.
However, SafeMove may generate other warning messages anytime during the
Axis Calibration routine.
Safety controller not synchronized - SafeMove message
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Product manual - IRB 6620
3HAC027151-001 Revision: T
5.4.4 Axis Calibration - Running the calibration procedure
Action
SafeMove generates the message "Safety control-
ler not synchronized".
xx1500002480
Confirm unsynchronized state by pressing Ac-
knowledge to continue Axis Calibration proced-
ure.
Restart Axis Calibration procedure by pressing
Play.
© Copyright 2006-2018 ABB. All rights reserved.
Action
Remove the calibration tool, if it is installed,
and restart the calibration procedure from
the beginning. See Starting the calibration
procedure on page 327.
If the calibration tool is in contact the robot
axis needs to be jogged in order to release
the calibration tool. Jogging the axis in wrong
direction will cause the calibration tool to
break. Directions of axis movement is shown
in Calibration movement directions for all
axes on page 312
Note
Continues on next page
5 Calibration
Continued
329