Updating The Revolution Counter - ABB IRB 6400R Product On-Line Manual

On-Site Installation
10. emergency stop and safety stop (where included) circuits and devices are func-
tional.
11. it is possible to disconnect and isolate the external power sources.
12.the teach and playback facilities function correctly.
13.the safeguarding is in place.
14.in reduced speed, the robot operates properly and has the capability to handle the
product or workpiece, and
15.in automatic (normal) operation, the robot operates properly and has the capability
to perform the intended task at the rated speed and load.
16.The robot is now ready for operation.

2.13.2 Updating the revolution counter

When pressing the enabling device on a new robot, a message will be displayed on the
teach pendant telling you that the revolution counters are not updated. When such a
message appears, the revolution counter of the manipulator must be updated using the
calibration marks on the manipulator (see Figure 28).
Examples of when the revolution counter must be updated:
- when one of the manipulator axes has been manually moved with the control-
ler disconnected.
- when the battery (on the manipulator) is discharged.
(it takes 36 hours with the mains switch on to recharge the battery)
- when there has been a resolver error
- when the signal between the resolver and the measuring panel unit has been
interrupted
WARNING:
Working inside the robot working range is dangerous.
Press the enabling device on the teach pendant and, using the joystick, manually move
the robot so that the calibration marks lie within the tolerance zone (see Figure 28).
When all axes have been positioned as above, the revolution counter settings are stored
using the teach pendant, as follows:
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Installation and Commissioning
Product Manual IRB 6400