ABB IRB 6700I, Product Manual

Page: 698 / 730

5.7 Checking the synchronization position
Introduction
Check the synchronization position of the robot 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
synchronization 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, fine, tool0
4
Run the program in manual mode. 5
See Synchronization marks and
synchronization position for axes on
page 677
and Updating revolution
counters on page 680 .
Check that the synchronization marks for the axes
align correctly. If they do not, update the revolu-
tion counters. 6
Using the jogging window
Use this procedure to jog the robot to the synchronization 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 Synchronization marks and synchron-
ization position for axes on page 677 and
Updating revolution counters on page 680 .
Check that the synchronization marks for
the axes align correctly. If they do not, up-
date the revolution counters. 5
698 Product manual - IRB 6700Inv
3HAC058254-001 Revision: L
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5 Calibration
5.7 Checking the synchronization position