ABB IRB 6400R, Product On-Line Manual, Page: 437 / 481

Storing the values on the teach pendant Repairs
74 Product Manual IRB 6400R
1. Run the calibration program CAL64 M96 on system disk Controller Parameter
(SERVICE.DIR\ CALIBRATE.DIR). Select Normal position, check the calibra-
tion marks for each axes.
2. Run the calibration program again and select the desired calibration position (Left
or Right), see Figure 38.
3. Change to the new calibration offset for axis 1, as follows:
• Select the window SERVICE;
• View: Calibration;
• Calib: Calibrate;
• Select axis 1 (no other axes)
• Then confirm by pressing OK two times.
4. Change to the new calibration offset on the label, located on the frame to the left
of motor axis 1 (remove the cover between axes 2 and 3). The new calibration off-
set values can be found as follows:
• Select the window SYSTEM PARAMETERS;
• Types: Motor;
• Select axis 1;
• Press Enter
• Note the Cal offset value.
5. Change to the new calibration position on axis 1, as follows:
• Select the window SYSTEM PARAMETERS;
• Topics: Manipulator;
• Types: Arm;
• Select axis 1;
• Change Cal pos to 1.570796 or -1.570796 depending on selected calibration
position. The angle is in radians, see Figure 38.
6. Restart the robot by selecting File: Restart.
7. Move the sync.plate, on the base, for axis 1 to its new position.
8. Save the system parameters on a floppy disk.
For Calibration equipment see Running H/F 2 Repairs