ABB IRB 5710, Product Manual

Page: 563 / 610

6.3 Updating revolution counters
6.3.1 Updating revolution counters on OmniCore robots
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.
Mandatory check of cable harness prior to revolution counter update or calibration
Before updating the revolution counter or performing calibration, the status of the
cable harness in the tubular shaft must be checked. There is a possibility that axis
4 has been rotated more than ±360° and therefor is positioned incorrectly (at wrong
turn), causing the cable harness inside the tubular shaft to be twisted, which can
damage the cabling.
Check the cable harness using a flashlight into the tubular shaft. Check that the
cable harness is not twisted inside the tubular shaft.
Cabling is twisted = axis 4 is positioned at
wrong turn (rotated more than ±360°) Cabling is straight = axis 4 is positioned at
correct turn
xx1900001236
xx1900001237
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 561 .
Jog the manipulator to align the synchron-
ization marks. 2
Step 2 - Updating the revolution counter
with the FlexPendant on page 563
.
When all axes are positioned, update the
revolution counter. 3
Step 2 - Updating the revolution counter with the FlexPendant
Use this procedure to update the revolution counter with the FlexPendant
(OmniCore).
Action
On the start screen, tap Calibrate . 1
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Product manual - IRB 5720 563
3HAC079195-001 Revision: A
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6 Calibration
6.3.1 Updating revolution counters on OmniCore robots