ABB IRB 5720, Product Manual

Page: 574 / 610

Note Action
A brief overview of the sequence
that will be run on the FlexPendant
is given in
Overview of the calibra-
tion procedure on the FlexPendant
on page 572
.
Follow the instructions given on the FlexPendant. 5
Restarting an interrupted calibration procedure
If the Axis Calibration procedure is interrupted before the calibration is finished,
the RobotWare program needs to be started again. Use this procedure to take
required action.
Action Situation
Press and hold the three-position enabling
device and press
Play .
The three-position enabling device on the
FlexPendant has been released during robot
movement.
Remove the calibration tool, if it is installed,
and restart the calibration procedure from
the beginning. See
Starting the calibration
procedure .
The RobotWare program is terminated with
PP to Main .
If the calibration tool is in contact the robot
axis needs to be jogged in order to release
the calibration tool. Jogging the axis in wrong
direction will cause the calibration tool to
break. Directions of axis movement is shown
in
Calibration movement directions for all
axes on page 562
Axis Calibration with SafeMove option
To be able to run Axis Calibration, SafeMove needs to be unsynchronized. The
Axis Calibration routine recognizes if the robot is equipped with SafeMove and will
force SafeMove to unsynchronize automatically.
However, SafeMove may generate other warning messages anytime during the
Axis Calibration routine. When a warning message is displayed, tap
Acknowledge
to confirm the unsynchronized state and continue Axis Calibration procedure.
CAUTION
SafeMove must be synchronized after the calibration is completed.
Continues on next page
574 Product manual - IRB 5720
3HAC079195-001 Revision: A
© Copyright 2022 ABB. All rights reserved.
6 Calibration
6.4.4 Axis Calibration - Running the calibration procedure
Continued