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5 Calibration
5.3 Updating revolution counters
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.
Coupled axes
When updating the revolution counters for a coupled axis, also the axis it is coupled
to needs to be at its synchronization position for the update to be correct; i.e. axis
4 needs to be in synchronization position when updating axis 5 and 6.
With reversed coupled joints, the relationship is the opposite, i.e. axis 4 needs to
be in synchronization position to update axis 3.
Coupled axes
Axis 4, 5, 6
Axis 5, 6
Axis 4, 3
Step 1 - Manually running the manipulator to the synchronization position
Use this procedure to manually run the manipulator to the synchronization position.
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2
3
Correct calibration position of axis 4 and 6
When jogging the manipulator to synchronization position, it is extremely important
to make sure that axes 4 and 6 of the following mentioned manipulators are
positioned correctly. The axes can be calibrated at the wrong turn, resulting in an
incorrect manipulator calibration.
Make sure the axes are positioned according to the correct calibration values, not
only according to the synchronization marks. The correct values are found on a
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.
Continues on next page
344
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Action
Select axis-by-axis motion mode.
Jog the manipulator to align the synchron-
ization marks.
When all axes are positioned, update the
revolution counter.
© Copyright 2009-2021 ABB. All rights reserved.
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Note
See
Synchronization marks and synchron-
ization position for axes on page
Step 2 - Updating the revolution counter
with the FlexPendant on page
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340.
345.
Product manual - IRB 4600
3HAC033453-001 Revision: Y
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