Check Of Measurement System/Calibration - ABB IRB 6400R Product On-Line Manual

Onboard Calibration
Sensor Positions.
Axis
Angle

10.4 Check of Measurement System/Calibration

Read and note the sensor positions (cal_sensor_positions) and calibration offset
(cal_offset) values from system parameters for the axes to be tested, if only the calibration
position is going to be tested is only the sensor positions needed.
To read and note the cal_sensor_position and cal_ offset.
• Press the Miscellaneous key
• Select System parameters-Manipulator-Type1-Motor-Calib.
If the measurementsystem, of some reason got large deviations from delivered calibration
on some or all axes, then the axes have to be course calibrated before program start, use
the calibrations plates to adjust the axes.
Do not recalibrate axes with correct calibration offset.
If a new update of the calibration offset has been done, always make a course check of the
new calibration offset by jogging the axis to the sync. plates and read the position value
from the teach pendant window, (position shall be close to 0,0 degrees).
Note! that the values in the following figures are not correct, the figures are only
examples for the displayed windows during Onboard calibration.
Program Start
Start program
• Press the function key continue to
run the calibration program.
62
1 2 3
-8,4° -7,5° +18,0°
4 5 6
-4,0° -15,0° ±0°
and select the Service Window.
Product Manual IRB 6400R
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