ABB CRB 15000 Product Manual page 1054

6 Calibration
6.2 Calibrating the torque sensors
Continued
1054
4 For the Joint Unit Replacement feature, the controller will now restart. Once
the home screen of the FlexPendant is shown, press the Play button to
continue the calibration routine.
5 The robot moves to a position or positions where measurements are
performed.
6 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.
7 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.
8 Finally the robot is moved back to the original position.
Tip
If the Joint Unit Replacement feature has been run, there is no need to run any
of the other features.
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Product manual - CRB 15000
3HAC077389-001 Revision: L