Updating Revolution Counters - ABB IRB 6620 Product Manual

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.
Mandatory check of cable harness prior to revolution counter update or calibration
Before updating the revolution counter or performing calibration, the status of the
cable harness in the tubular shaft must be checked. There is a possibility that axis
4 has been rotated more than ±360° and therefor is positioned incorrectly (at wrong
turn), causing the cable harness inside the tubular shaft to be twisted, which can
damage the cabling.
Check the cable harness using a flashlight into the tubular shaft. Check that the
cable harness is not twisted inside the tubular shaft.
Cabling is straight = axis 4 is positioned at
correct turn
xx1900001265
Step 1 - Manually running the manipulator to the synchronization position
Use this procedure to manually run the manipulator to the synchronization position.
1
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.
Product manual - IRB 6620
3HAC027151-001 Revision: W
Action
Select axis-by-axis motion mode.
Jog the manipulator to align the synchron-
ization marks.
CAUTION
Check the position of axis 4 before continu-
ing, see Mandatory check of cable harness
prior to revolution counter update or calib-
ration on page 307.
When all axes are positioned, update the
revolution counter.
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5.3 Updating revolution counters
Cabling is twisted = axis 4 is positioned at
wrong turn (rotated more than ±360°)
xx1900001266
Note
See Synchronization marks and synchron-
ization position for axes on page
Step 2 - Updating the revolution counter
with the FlexPendant on page
Continues on next page
5 Calibration
304.
308.
307