Updating Revolution Counters - ABB Robotics IRB 1520 Product Manual

5.5 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.
1
2
3
Product manual - IRB 1520
3HAC043435-001 Revision: L
x
x x
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.
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5 Calibration information
5.5 Updating revolution counters
x x
x x
x
Note
See Synchronization marks and synchron-
ization position for axes on page
Step 2 - Updating the revolution counter
with the FlexPendant on page
x x x x
x
276.
280.
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