ABB IRB 6710 Product Manual page 603

5
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.
Product manual - IRB 6710
3HAC085695-001 Revision: A
6.4.4 Axis Calibration - Running the calibration procedure
Action
Follow the instructions given on the FlexPendant.
CAUTION
SafeMove must be synchronized after the calibration is completed.
© Copyright 2023 ABB. All rights reserved.
Note
A brief overview of the sequence
that will be run on the FlexPendant
is given in Overview of the calibra-
tion procedure on the FlexPendant
on page 601.
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 591
Continues on next page
6 Calibration
Continued
603