Updating Revolution Counters; Updating Revolution Counters On Omnicore Robots - ABB IRB 910INV Product Manual

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Table of Contents

6 Calibration

6.3 Updating revolution counters

6.3.1 Updating revolution counters on OmniCore robots

Introduction

This section describes how to do a rough calibration of each manipulator axis by

updating the revolution counter for each axis, using the FlexPendant.

Coupled axes

When updating the revolution counters for a coupled axis, also the axis it is coupled

to needs to be at its synchronization position for the update to be correct; i.e. axis

4 needs to be in synchronization position when updating axis 3.

With reversed coupled joints, the relationship is the opposite, i.e. axis 4 needs to

be in synchronization position to update axis 3.

Coupled axes

Step 1 - Manually running the manipulator to the synchronization position

Use this procedure to manually run the manipulator to the synchronization position.

Correct calibration position of axes 1 and 2

When jogging the manipulator to synchronization position, it is extremely important

to make sure that axis 1 and 2 are positioned correctly. Axis 1 and 2 can be

calibrated at the wrong turn, resulting in an incorrect manipulator calibration.

Continues on next page

Select axis-by-axis motion mode.

Jog the manipulator to align the synchron-

ization marks.

When all axes are positioned, update the

revolution counter.

Synchronization marks and synchron-

ization position for axes on page

Step 2 - Updating the revolution counter

with the FlexPendant on page

Product manual - IRB 910INV

3HAC068055-001 Revision: K