ABB IRB 6400R Product On-Line Manual page 420

Repairs
29. Enter the file by selecting Project: Add Files To Project.
30. Select the file in the "Insert file(s) into Project" dialog window and click Open.
31. The file will now appear in the "Robot Files" box in the project window.
32. Click the file (obtained from the robot) in the "Robot Files" box.
33. Drag the file to the "Measurement file" box. While holding the file upon the
measurement file, press the Shift key. Now release the left mouse button (which
you initially pressed to drag the file).
34. The "Choose Calibration System" window appears.
35. Open the pop-up menu for "Parameter File" and select the right robot type, click
Open.
36. Then click OK in the "Choose calibration system" dialog box.
37. A box called "Parameters for: (name of robot program).mod". Check that the
TCP information are correct. If not enter the correct TCP values. Click OK.
38. Click the "Robot" button in the window "Calibrate".
39. Check that the box "Nominal" is selected, than click OK.
40. Start the calibration by clicking the button "Start calibration".
41. Now click the button "Remove worst point and Recalibrate" a couple of times.
The figures in "Calibration results" should not change so much after pressing the
button a couple of times.
42. Then click the button "Save calibration & Close".
43. A box called "DynaCal" appears. Click "Yes".
44. Then just click "Save" in the box "Save as".
45. Click "Yes" if you get a question if you want to replace the already existing file.
46. Now a file called "FineSync.mod" appears in the box "Robot files".
47. Right-click on the file and choose "Send File(s) To A\:".
48. Delete existing main routine in the robot system.
49. Load the FineSync. mod program into the robot system and run the program.
50. Store the new values according to section 11.
Product Manual IRB 6400R
Calibration
57