Updating Revolution Counters - ABB Levelmeter 2000 Instructions Manual

3 Calibration

3.17. Updating revolution counters

3.17. Updating revolution counters
General
This section details how to perform a rough calibration of each robot axis, i.e. updating the
revolution counter value for each axis, using either the TPU or the FlexPendant.
Manually running the robot to the calibration position
This procedure details the first step when updating the revolution counter; manually running
the robot to the calibration position.
Step
Correct calibration position of axis 4 and 6
When running the robot to calibration position, it is extremely important to make sure that
axes 4 and 6 of the below mentioned robots are positioned correctly. The axes do not have
any mechanical stops and can therefore be calibrated at the wrong turn.
Make sure the axes are positioned according to the correct calibration values, not only
according to the calibration marks. The correct values are found on a label, located either on
the lower arm or underneath the flange plate on the base.
At delivery the robot 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 below mentioned axes are rotated one or more turns from its calibration position
before updating the revolution counter, the exact calibration position will be lost due to
uneven gear ratio. This affects the following robots:
Robot variant
IRB 140
IRB 1400
IRB2400L (5kg)
IRB6400 / 200kg
IRB6400R / 200kg
IRB6600 / 175kg_2,55 m
IRB6600 / others
IRB7600
72
Action
1. Select axis-by-axis motion mode.
2. Jog the robot so that the calibration
marks lie within the tolerance zone.
IRB 140, 1400, 2400, 4400: Axes 5 and
6 must be positioned together!
3. When all axes are positioned, store the
revolution counter settings.
Note
Shown in section
correct axis position
Detailed in sections:
Storing the revolution counter setting with
the TPU
Storing the revolution counter setting with
the FlexPendant
5.0).
Axis 4
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Calibration scales and
on page 16.
on page 73 (RobotWare 4.0).
on page 74 (RobotWare
Axis 6
Yes
Yes
No
No
No
No
Yes
Yes
3HAC 022907-001 Revision: -