ABB IRB 6400R Product On-Line Manual page 423

Onboard Calibration
Without CANBUS (See Figure 26 Connection without CANBUS)
4. Connect the 15 m cable from the I/O box to the connector X10 on the backplane of
the controler.
Note ! the terminating resistor switch on the I/O box should be turned ON.
5. Restart the system and load the program (see 10.3 Load the program on_board.prg.
load program).
6. Remove the calibration plate and cover on motor axis 6.
7. Remove the cover axis 4.
8. Attach the tool for calibration on axes 5 and 6.
9. Remove the protective cap from the sensors on axes 1-4.
10. Connect the cables from the box to the sensors on axes 1-6 see Figure 25 Connection
with CANBUS.
During Onboard calibration will the robot or the axes that is going to be calibrated move
towards the sensor (target) position.
Terminating resistor switch
Figure 26 Connection without CANBUS
60
I/O Box
15 m cable
Repairs
Product Manual IRB 6400R