ABB IRB 14000, Operating Manual

Page: 47 / 72

4 Calibration
4.1 Introduction
General
This chapter includes information about when the robot system must be recalibrated.
There are two types of calibration, to update the revolution counters or to do a fine
calibration.
When to update the revolution counters
If the revolution counter memory is lost, the counters must be updated. This will
occur when:
• The battery is discharged
• A resolver error occurs
• The signal between a resolver and measurement board is interrupted
• A robot axis is moved with the control system disconnected
The revolution counters must also be updated after the robot and controller are
connected at the first installation.
To update the revolution counters is a simple procedure which can be performed
by the operator, see
Updating revolution counters on page 50 .
When to do a fine calibration
The system must be fine calibrated when parts affecting the calibration position
are replaced on the robot, for example motors or parts of the transmission.
A fine calibration should only be performed by a qualified service engineer. For
more information see section
Calibration in Product manual - Product.ProductName .
Operating manual - IRB 14000 47
3HAC052986-001 Revision: E
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4 Calibration
4.1 Introduction