ABB IRB 6400R Product On-Line Manual page 428

Repairs
Displayed Calculated Position Difference
After entering the old sensor positions, the
difference between the new and old
positions on axes1 - 3 are displayed.
• Press the function key continue to
view positions for axes 4 - 6.
• Press the function key Exit and the
test is finished.
Test the axes One by One
When the axes is to be tested one by one,
chose one axis see Select All Axes or One
by One.
• Select the axis to be measured.
• Press the function key OK.
A window appear that says Robot starts
moving. (only the axis to be measured will
be moved to its sensor position).
• Press the function key continue.
Old Sensor Positions
When the measuring of current axis is
done, enter the old sensor position for the
current axis.
• Press function key OK.
Product Manual IRB 6400R
Onboard Calibration
6.123456 7.123456 1.123456
2.123456 9.123456
6.123456
3.123456 3.123456 3.123456
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