ABB IRB 6400R, Product On-Line Manual

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Repairs Onboard Calibration
Product Manual IRB 6400R 61
10.3 Load the program on_board.prg.
• Press the Program key to open the window.
• Choose File: Open.
A dialog box appears, displaying all programs in the current directory (see Figure 27).
Figure 27 The dialog box used to read programs.
• If necessary, change the mass memory unit by pressing Unit until the correct unit is
displayed.
• Select the desired program. Move up or down in the directory by using either ‘. .’ (up), or
the desired directory (down) and press Enter .
• Choose OK to confirm.
When a program is already loaded into the system, but has not been saved, and you wish to
open another program, a dialog box appears and you will be asked whether you want to save
the old program or not.
1. Remove the calibration plate and cover on motor axis 6.
2. Remove the cover axis 4.
3. Attach the tool for calibration on axes 5 and 6.
4. Remove the protective cap from the sensors on axes 1-4.
5. Connect the cables from the box to the sensors on axes 1-6 see Figure 25 Connection
with CANBUS.
6. During Onboard calibration will the robot or the axes that is going to be calibrated move
towards the sensor (target) position.
flp1:
Robot1
Mass memory unit
Current directory
on_board
Program