ABB IRB 6400R Product On-Line Manual page 418

Repairs
4. Mount the calibration tool, 3HAC 4083-1, onto the mounting flange of the robot
as shown in Figure 24.
NOTE! The TCP value for the tool is written on the label on the tool.
Figure 24 Tool 3HAC 4083-1 mounted on the mounting flange, robot in calibration position.
5. Mount the DynaCal calibration adapter onto the calibration tool.
6. Install the DynaCal
- Press the "Start" menu in Windows.
- Select "Run".
- Enter a:\setup" and press OK.
- Follow the instructions on screen.
7. Enter the TCP value for the tool (see point 4.), and activate it. Check that the TCP
is correct by reorientating the wrist with the joy-stick.
8. Click on the "Start" button in Windows. Select "Programs", and then select
"DynaCal Calibration System Software" from the list of programs.
9. The menu shown on the screen is similar to all Windows products.
The DynaCal Software requires every robot to be associated to a project (i.e. every new
robot to be calibrated has to have a new project associated with it).
10. To create a new project choose, Project: New.
11. In the window "New Project" enter a project name, the directory where the
project is to be stored, also select the type of robot and the type of application the
robot performs.
12. In the same window, click the "Measurement option (DynaCal)..." button and
check that the Configuration file (.clb) has the same number as the serial number
of the DynaCal Calibration unit (see sign on the unit).
13. Then click the button OK in the "New Project" window.
Product Manual IRB 6400R
TM
System Software in the PC (two diskettes), see below:
Calibration
3HAC 4083-1
55