ABB CRB 15000 Product Manual page 721

Product manual - CRB 15000
3HAC077389-001 Revision: E
Note
The calibration procedure must be called using PP to Routine, and not by using
Call Routine.
1 Choose which feature to run.
The features are described in
Only the feature Torque Sensor Check is shown for users without user grant
Safety Services.
The other features require a password. The default password is 14775 (can
be changed by the integrator).
2 Choose which axis/axes to calibrate.
3 The robot moves to a position or positions where measurements are
performed.
4 The results of the measurements are presented together with the current
values in the controller. Choose whether to save the calibration data or not.
If the calibration data is saved, the new sensor offsets are saved in a file
called TSENS_LOG.TXT in the HOME directory.
5 If new calibration data is saved you will be asked to do a test with the
lead-through functionality active to verify that the sensors work correctly.
6 Finally the robot is moved back to the original position.
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6.2 Calibrating the robot
Features in the routine on page
6 Calibration
Continued
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