ABB IRB 2000, Product Manual

Page: 228 / 270

Parameters
System parameters for synchronization offset are required for all axes installed.
Menu S Selection of axis.
Def. range 0-8191 resolver increments. (Fine- and coarse resolver)
0, -1, +1 turns (the counter of the fine resolver in calibration position)
Default value
Not predefined in the PROM. When loading predefined parameters from the
PROM to the parameter memory, the resolver offset for all axes is set to 0 and the
counter to "undefined". The synchronizing parameters must therefore be entered
after such an operation.
The values which apply for the robot installation are always specified in the robot
ID-document except for the counter that always is updated manually.
Menu selection
UPDATE = The actual position of the resolver is transmitted by the control system
to the parameter memory. This assumes a rotor position in accordance
with the definition above.
MANDEF = Manual entry of the resolver value to the parameter memory.
5.3.6
COUNT
Description
Using this key, all revolution counters are set to zero due to an
internal calculation of compesnation.
Resulting question
UPDATE ALL COUNTERS?
YES or NO
INSTALLATION S3
5:64