ABB IRB 4600 - 20/2.50, Product Manual

Page: 328 / 374

5.6 Checking the calibration position
Introduction
Check the calibration position before beginning any programming of the robot
system. This may be done:
• Using a
MoveAbsJ
instruction with argument zero on all axes.
• Using the Jogging window on the FlexPendant.
Using a MoveAbsJ instruction
Use this procedure to create a program that runs all the robot axes to their zero
position.
Note Action
On ABB menu tap Program editor . 1
Create a new program. 2
Use MoveAbsJ in the Motion&Proc menu. 3
Create the following program:
MoveAbsJ [[0,0,0,0,0,0],
[9E9,9E9,9E9,9E9,9E9,9E9]]
\NoEOffs, v1000, z50, Tool0
4
Run the program in manual mode. 5
See Calibration scale and correct
axis position on page 322 , and Updat-
ing revolution counters on page 326 .
Check that the calibration marks for the axes align
correctly. If they do not, update the revolution
counters. 6
Using the jogging window
Use this procedure to jog the robot to the zero position of all axes.
Note Action
On the ABB menu, tap Jogging . 1
Tap Motion mode to select group of axes
to jog.
2
Tap to select the axis to jog, axis 1, 2, or
3. 3
Manually run the robots axes to a position
where the axis position value read on the
FlexPendant, is equal to zero. 4
See Calibration scale and correct axis pos-
ition on page 322 , and Updating revolution
counters on page 326 .
Check that the calibration marks for the
axes align correctly. If they do not, update
the revolution counters! 5
328 3HAC033453-001 Revision: H
© Copyright 2009-2013 ABB. All rights reserved.
5 Calibration
5.6 Checking the calibration position