ABB IRB 6620 Product Manual page 321

3
4
Restarting an interrupted calibration procedure
If the Axis Calibration procedure is interrupted before the calibration is finished,
the RobotWare program needs to be started again. Use this procedure to take
required action.
Situation
The three-position enabling device on the
FlexPendant has been released during robot
movement.
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.
Product manual - IRB 6620
3HAC027151-001 Revision: W
5.4.4 Axis Calibration - Running the calibration procedure
Action
Calibration method used at factory for each axis
is shown, as well as calibration method used for
the robot during last field calibration.
Tap Run Calibration Method. The software will
automatically call for the procedure for the valid
calibration method.
xx1500000944
Follow the instructions given on the FlexPendant.
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Note
The FlexPendant will give all inform-
ation needed to proceed with Axis
Calibration.
A brief overview of the sequence
that will be run on the FlexPendant
is given in Overview of the calibra-
tion procedure on the FlexPendant
on page 318.
Action
Press and hold the three-position enabling
device and press Play.
Remove the calibration tool, if it is installed,
and restart the calibration procedure from
the beginning. See Starting the calibration
procedure on page 320.
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 306
Continues on next page
5 Calibration
Continued
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