ABB IRB 14000, Product Manual

Page: 428 / 458

5.5 Updating revolution counters
Introduction
This section describes how to do a rough calibration of each robot axis, which
updates the revolution counter value for each axis using the FlexPendant.
The procedure can be summarized accordingly:
1 Manually move the manipulator to the calibration position.
2 Select the Calibration with hall sensors (CalHall) routine.
3 Select the function Update of revolution counters.
4 Store the revolution counter setting.
Each step is described in detail in following sections.
Step 1 - Manually moving the manipulator to the calibration position
Note Action
CAUTION
When releasing the holding brakes, the robot axes
may move very quickly and sometimes in unex-
pected ways!
1
The synchronization marks are
shown in
Calibration scale and
correct axis position on page 419 .
Release the brakes of the robot arm to be calib-
rated and move the arm manually so that the
synchronization mark of each joint is aligned.
The robot now stands in its calibration position. 2
There is a tolerance for the joint
position. The edge of a mark
should be at least within the area
of the opposite mark.
Step 2 - Selecting the Calibration with hall sensors (CalHall) routine
Note Action
Open the Program Editor on the FlexPendant. 1
Select the task that corresponds to the robot arm
to be calibrated. Tap
Open .
2
If necessary, create a new program. This needs
to be done if no existing program is available. 3
Select Debug and tap PP to Main . 4
Select Debug and tap Call Routine... 5
Select CalHall . 6
Go to Motor On and press the Start button . 7
Continues on next page
428 Product manual - IRB 14000
3HAC052983-001 Revision: D
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5 Calibration
5.5 Updating revolution counters