ABB Robotics IRB 6790 Product Manual page 632

5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued
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. When a warning message is displayed, tap Acknowledge
to confirm the unsynchronized state and continue Axis Calibration procedure.
After calibration
1
2
Continues on next page
632
CAUTION
SafeMove must be synchronized after the calibration is completed.
Action
Check the o-ring on the fixed calibration pin.
Replace if damaged or missing.
Reinstall the protective cover on the fixed calibra-
tion pin on each axis, directly after the axis has
been calibrated.
Replace the cover with new spare part, if missing
or damaged.
© Copyright 2019 - 2020 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 630.
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 618
Note
xx1600002102
Protection cover and plug set:
3HAC064875-001.
Product manual - IRB 6790
3HAC063331-001 Revision: B