ABB CRB 1100, Product Manual

Page: 682 / 720

6.7 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 with argument zero on all axes.
• Using the Jog window on the FlexPendant.
Using a
MoveAbsJ
instruction
Use this procedure to create a program that runs all the robot axes to their
synchronization position.
Note Action
Tap Code . 1
Create a new program. 2
Use MoveAbsJ in the Add Instruction menu. 3
Create the following program:
MoveAbsJ [[0,0,0,0,0,0],
[9E9,9E9,9E9,9E9,9E9,9E9]]
\NoEOffs, v1000, fine, tool0
4
Run the program in manual mode. 5
See Synchronization marks and
synchronization position for axes on
page 657
and Updating revolution
counters on page 659 .
Check that the synchronization marks for the axes
align correctly. If they do not, update the revolu-
tion counters. 6
Using the jogging window
Use this procedure to jog the robot to the synchronization position of all axes.
Note Action
Tap Jog . 1
From the Mechanical unit list select a
mechanical unit.
2
From the Motion mode section, select an
axis-set that need to be jogged.
3
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. 4
Manually run the robots axes to a position
where the axis position value read on the
FlexPendant, is equal to zero. 5
See Synchronization marks and synchron-
ization position for axes on page 657 and
Updating revolution counters on page 659 .
Check that the synchronization marks for
the axes align correctly. If they do not, up-
date the revolution counters. 6
682 Product manual - CRB 1100
3HAC078007-001 Revision: J
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6 Calibration
6.7 Checking the synchronization position