ABB IRB 6400R Product On-Line Manual page 431

Storing the values on the teach pendant
cedure.
5. If there is more than one unit, select the desired unit in the window in Figure 29.
Choose Calib: Calibrate and the window shown in Figure 30 will appear.
Calibration!
Robot
To calibrate, include axes and press OK.
X
X
X
X
Figure 30 The dialog box used to calibrate the manipulator.
6. Press the function key All to select all axes, if all axes are to be commutated.
Otherwise, select the desired axis and press the function key Incl (the selected axis
is marked with an x).
7. Confirm by pressing OK. The window in Figure 31 appears.
Calibration!
Robot
The calibration for all marked axes
will be changed.
It cannot be undone.
OK to continue?
Figure 31 The dialog box used to start the calibration.
8. Start the calibration by pressing OK.
An alert box is displayed during calibration.
The Status window appears when the fine calibration is complete. The revolution
counters are always updated at the same time as the calibration is performed.
Calibration plate and calibration marks
68
Axis
1 Not Fine Calibrated
2 Not Fine Calibrated
3 Fine Calibrated
4 Fine Calibrated
5 Not Fine Calibrated
6 Not Fine Calibrated
Incl All
- - - - - WARNING - - - - -
Status
1(6)
Cancel OK
Cancel OK
Repairs
Product Manual IRB 6400R