ABB IRB 6400R Product On-Line Manual page 427

Onboard Calibration
Select All Axes or One by One
Calibrate the axes one by one or all at the
same time.
To calibrate all axes.
• Press the function key All axes.
The robot moves to the start position for
all axes, (sensor positions) then the
system measures one axis at a time.
• Press the function key One axis to
calibrate the axes one by one,
continue to chapter Test the axes
One by One .
Sensor Positions
The sensor positions for all axes are
measured and displayed.
• Press the function key continue to
enter old sensor positions.
When calibrating the sensor positions at
installation with customer load mounted,
note the sensor position values, and after
program finished the values are feed into
the system parameters.
• Press the Misc. key
• Sellect the Service Window
• Sellect System parameters-Manipu-
lator-Type1-Motor-Calib-
cal_sensor-position.
• Enter value
• Restart system.
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Repairs
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Product Manual IRB 6400R