ABB IRB 2000, Product Manual

Page: 99 / 270

8
Calibration
8.1
Coarse calibration using the robot calibration marks
If error message 509 SYNC.ERROR XXXX or ROBOT NOT SYNCHRONIZED, the robot
must be calibrated against the calibration mark of each axis on the robot. See figure on
the next page.
Examples when the revolution counter is to be calibrated:
* when the battery unit is discharged
* after a resolver fault
* the signal between resolver and serial measurement board is interrupted
* some robot axes have been manually moved with disconnected control system
After approx. 18 hrs of operation, the accumulator unit is fully recharged.
If calibration of the resolvers must be performed, see Service Manual IR6 2000,
Mechanical repair, chapter 9.
Observe caution when inside he robot working range!
Put the system in the MOTOR ON mode and run the robot manually, using the joystick,
to a position where the calibration marks are within the tolerance zone, as shown in the
figure on the next page.The axes are to be adjusted in increasing sequence, i.e. 1 - 2 - 3 - 4
- 5 - 6 .
Axes 5 or 6 must not be manually moved before the robot is calibrated, to avoid that the
resolver of axis 6 is calibrated on the wrong resolver revolution.
When calibration is performed as below, avoid to move axis 6 when axis 5 is moved to it's
calibration position.
When all axes have been set according to the above, the revolution counter values are to
be stored by giving the following commands on the programming unit:
• Note. Don't uppdate the SYNCPAR value.
MAN
SCAN
PARAM
RESOLV
COUNTER
UPDATE ALL COUNTERS? YES
Make a back up copy of the parameters on a diskette or similar by performing the
following sequence:
MAN
SCAN
PARAM
TO DISK
After uppdate of the revolution counter check every time calibration position and drive a
sutable calibration program.
Installation 1KB 2000
20