Checking The Calibration Position; Alternative Calibration Positions; Operating The Robot - ABB IRB 6400R Product On-Line Manual

On-Site Installation

2.13.3 Checking the calibration position

There are two ways to check the calibration position and they are described below.
Using the diskette, Controller Parameters:
Run the program \ SERVICE \ CALIBRAT \ CAL 6400 on the diskette, follow intruc-
tions displayed on the teach pendant. When the robot stops, switch to MOTORS OFF.
Check that the calibration marks for each axis are at the same level, see Figure 28. If
they are not, the setting of the revolution counters must be repeated.
Using the Jogging window on the teach pendant:
Open the Jogging window
move the robot so that the read-out of the positions is equal to zero. Check that the cal-
ibration marks for each axis are at the same level, see Figure 28. If they are not, the set-
ting of the revolution counters must be repeated.

2.13.4 Alternative calibration positions

See chapter 12, Repairs.

2.13.5 Operating the robot

Starting and operating the robot is described in the User's Guide. Before start-up, make
sure that the robot cannot collide with any other objects in the working space.
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Installation and Commissioning
and choose running axis-by-axis. Using the joystick,
Product Manual IRB 6400