ABB IRB 1100, Product Manual

Page: 717 / 766

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.
Step 1 - Manually running the manipulator to the synchronization position
Use this procedure to manually run the manipulator to the synchronization position.
Note Action
Select axis-by-axis motion mode. 1
See Synchronization marks and synchron-
ization position for axes on page 715 .
Jog the manipulator to align the synchron-
ization marks. 2
Step 2 - Updating the revolution counter
with the FlexPendant on page 720
.
When all axes are positioned, update the
revolution counter. 3
Correct calibration position of axis 4
When jogging the manipulator to synchronization position, it is extremely important
to make sure that axis 4 is positioned correctly. Axis 4 can be calibrated at the
wrong turn, resulting in an incorrect manipulator calibration.
Make sure axis 4 is positioned according to the cable harness status, not only
according to the synchronization marks. Use the following procedure to check and
correct the axis 4 position.
Note Action
xx1800003011
Remove the housing cover. 1
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Product manual - IRB 1100 717
3HAC064992-001 Revision: L
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6 Calibration
6.3.1 Updating revolution counters on OmniCore robots