ABB IRB 1400, Product Manual

Page: 140 / 198

6 Calibration information
6.0.6 Checking the calibration position
138 3HAC021111-001 Revision: B
6.0.6 Checking the calibration position
General
Check the calibration position before beginning any programming of the robot system. This
may be done in one of two ways:
• Using a MoveAbsJ instruction with argument zero on all axes.
• Using the Jogging window on the teach pendant.
Using a
MoveAbsJ
instruction on the
FlexPendant,
IRC5 This section describes how to create a program, which runs all the robot axes to their zero
position.
Using the
Jogging window
on the Flex-
Pendant, IRC5 This section describes how to jog the robot to all axes zero position.
Action Note
On ABB menu tap Program Editor.
Create a new program.
Use MoveAbsJ in the Motion&Proc menu.
Create the following program:
MoveAbsJ
[[0,0,0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E
9]]\NoEOffs, v1000, z50, Tool0
Run the program in manual mode.
Check that the calibration marks for the axes align
correctly. If they do not, update the revolution
counters! The calibration marks are shown
in section
Calibration scales,
IRB 1400 on page 134 .
How to update the revolution
counters is detailed in section
Updating revolution counters on
page 136
.
Action Note
Tap Jogging in the ABB menu.
Tap Motion mode to choose group of axes to jog.
Tap axes 1-3 to jog axes 1, 2 or 3.
Manually run the robots axes to a position where the axis
position value read on the FlexPendant, is equal to zero.
Check that the calibration marks for the axes align cor-
rectly. If they do not, update the revolution counters! The calibration marks are
shown in section
Calibration
scales, IRB 1400 on page
134
.
How to update the counters
is detailed in section
Updat-
ing revolution counters on
page 136
.