Checking The Synchronization Position - ABB IRB 6700Inv Series Product Manual

5 Calibration

5.7 Checking the synchronization position

5.7 Checking the synchronization position
Introduction
Check the synchronization position of the robot before beginning any programming
of the robot system. This may be done:
Using a MoveAbsJ instruction
Use this procedure to create a program that runs all the robot axes to their
synchronization position.
1
2
3
4
5
6
Using the jogging window
Use this procedure to jog the robot to the synchronization position of all axes.
1
2
3
4
5
698
• Using a MoveAbsJ instruction with argument zero on all axes.
• Using the Jogging window on the FlexPendant.
Action
On ABB menu tap Program editor.
Create a new program.
Use MoveAbsJ in the Motion&Proc menu.
Create the following program:
MoveAbsJ [[0,0,0,0,0,0],
[9E9,9E9,9E9,9E9,9E9,9E9]]
\NoEOffs, v1000, fine, tool0
Run the program in manual mode.
Check that the synchronization marks for the axes
align correctly. If they do not, update the revolu-
tion counters.
Action
On the ABB menu, tap Jogging.
Tap Motion mode to select group of axes
to jog.
Tap to select the axis to jog, axis 1, 2, or
3.
Manually run the robots axes to a position
where the axis position value read on the
FlexPendant, is equal to zero.
Check that the synchronization marks for
the axes align correctly. If they do not, up-
date the revolution counters.
© Copyright 2017 - 2020 ABB. All rights reserved.
Note
See Synchronization marks and
synchronization position for axes on
page 677 and Updating revolution
counters on page 680.
Note
See Synchronization marks and synchron-
ization position for axes on page 677
Updating revolution counters on page
Product manual - IRB 6700Inv
3HAC058254-001 Revision: L
and
680.