ABB IRB 1660, Product Manual

Page: 345 / 398

5.3 Updating revolution counters
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.
Coupled axes
When updating the revolution counters for a coupled axis, also the axis it is coupled
to needs to be at its synchronization position for the update to be correct; i.e. axis
4 needs to be in synchronization position when updating axis 5 and 6.
With reversed coupled joints, the relationship is the opposite, i.e. axis 4 needs to
be in synchronization position to update axis 3.
IRB
4600
IRB
4450S
IRB
4400
IRB
2600ID
IRB
2600
IRB
2400
IRB
910
SC
IRB
1660ID
IRB
1600ID
IRB
1600
IRB
1520
IRB
1410
IRB
140
Coupled axes
x x x x x x x Axis 4, 5, 6
x x x x x Axis 5, 6
x Axis 4, 3
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 341 .
Jog the manipulator to align the synchron-
ization marks. 2
Step 2 - Updating the revolution counter
with the FlexPendant on page 346
.
When all axes are positioned, update the
revolution counter. 3
Correct calibration position of axis 4 and 6
When jogging the manipulator to synchronization position, it is extremely important
to make sure that axes 4 and 6 of the following mentioned manipulators are
positioned correctly. The axes can be calibrated at the wrong turn, resulting in an
incorrect manipulator calibration.
Make sure the axes are positioned according to the correct calibration values, not
only according to the synchronization marks. The correct values are found on a
label, located either on the lower arm, underneath the flange plate on the base or
on the frame.
At delivery the manipulator is in the correct position, do NOT rotate axis 4 or 6 at
power up before the revolution counters are updated.
Continues on next page
Product manual - IRB 1600/1660 345
3HAC026660-001 Revision: W
© Copyright 2006-2018 ABB. All rights reserved.
5 Calibration
5.3 Updating revolution counters