Setting The Calibration Marks On The Manipulator - ABB IRB 6400R Product On-Line Manual

Storing the values on the teach pendant

11.1 Setting the calibration marks on the manipulator

When starting up a new robot, you may receive a message telling you that the
manipulator is not synchronised. The message appears in the form of an error code on
the teach pendant. If you receive such a message, the revolution counter of the
manipulator must be updated using the calibration marks on the manipulator. See
Figure 32.
Examples of when the revolution counter must be updated:
- when the battery unit is discharged
- when there has been a resolver error
- when the signal between the resolver and the measuring system board has
been interrupted
- when one of the manipulator axes has been manually moved without the con-
troller being connected.
It takes 36 hours' operation to recharge the battery unit without any power
interruptions.
If the resolver values must be calibrated, this should be done as described in the chapter
on Repairs in the IRB 6400 Product Manual.
WARNING
Working in the robot work cell is dangerous.
Press the enabling device on the teach pendant and, using the joystick, move the robot
manually so that the calibration marks lie within the tolerance zone (see Figure 37).
N.B. Axes 5 and 6 must be positioned together.
Note that axis 6 does not have any mechanical stop and can thus be calibrated at the
wrong faceplate revolution. Do not operate axes 5 and 6 manually before the robot has
been calibrated.
When all axes have been positioned as above, the values of the revolution counter can
be stored by entering the following commands on the teach pendant:
1. Press the Misc. window key (see Figure 33).
70
P1
7 8 9
4 5 6
1 2 3
0
1
2
P2
P3
Product Manual IRB 6400R
Repairs