ABB IRB 1200 Product Manual page 830

5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued
Restarting an interrupted calibration procedure
If the Axis Calibration procedure is interrupted before the calibration is finished,
the RobotWare program needs to be started again. Use this procedure to take
required action.
Situation
The three-position enabling device on the
FlexPendant has been released during robot
movement.
The RobotWare program is terminated with
PP to Main.
Axis Calibration with SafeMove option
To be able to run Axis Calibration, SafeMove needs to be unsynchronized. The
Axis Calibration routine recognizes if the robot is equipped with SafeMove and will
force SafeMove to unsynchronize automatically.
However, SafeMove may generate other warning messages anytime during the
Axis Calibration routine. When a warning message is displayed, tap Acknowledge
to confirm the unsynchronized state and continue Axis Calibration procedure.
After calibration
1
Continues on next page
830
CAUTION
SafeMove must be synchronized after the calibration is completed.
Action
Check the o-ring on the plug.
Replace the plug with new spare part, if missing
or damaged.
Note
For robots with protection type Hygienic
Hygienic robots do not have the o-ring on the plug.
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Action
Press and hold the three-position enabling
device and press Play.
Remove the calibration tool, if it is installed,
and restart the calibration procedure from
the beginning. See Starting the calibration
procedure.
If the calibration tool is in contact the robot
axis needs to be jogged in order to release
the calibration tool. Jogging the axis in wrong
direction will cause the calibration tool to
break. Directions of axis movement is shown
in Calibration movement directions for all
axes on page 812
Note
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Product manual - IRB 1200
3HAC046983-001 Revision: S