Checking The Synchronization Position - ABB IRB 1100 Product Manual

6.6 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.
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Using the jogging window
Use this procedure to jog the robot to the synchronization position of all axes.
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Product manual - IRB 1100
3HAC064992-001 Revision: L
• Using a MoveAbsJ instruction with argument zero on all axes.
• Using the Jog window on the FlexPendant.
Action
Tap Code.
Create a new program.
Use MoveAbsJ in the Add Instruction 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
Tap Jog.
From the Mechanical unit list select a
mechanical unit.
From the Motion mode section, select an
axis-set that need to be jogged.
For example, to jog axis 2, select the axis
set Axis 1-3.
Follow the screen instruction on joystick
movements to understand the direction of
the axis that you want to move and move
the joystick.
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.
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6.6 Checking the synchronization position
Note
See Synchronization marks and
synchronization position for axes on
page 715 and
counters on page
Note
See Synchronization marks and synchron-
ization position for axes on page 715
Updating revolution counters on page
6 Calibration
Updating revolution
717.
and
717.
737