ABB IRB6400, Assembly Manuallines

Page: 191 / 212

Disassembly/Assembly
Guidelines
IRB 6400 Page 11 - 22
Robot Calibration
Precision Resolver Calibration Procedure (Cont)
23. The information shown is:
NAME The name given to the axis
(example: motor_1).
CAL OFFSET The value of the resolver when
it is at the calibration position.
This value is in radians.
COM OFFSET The commutation value for the
motor. On the IRB 6400 this
value is always 1.570800. This
value is in radians.
CAL OFFSET VALID Confirmation that the
calibration values are
valid. This should be
“YES”.
COM OFFSET VALID Confirmation that the
commutation values are
valid. This should be
“YES”.
24. The value to put on the paper is the
CAL OFFSET
value.
25. The
CAL OFFSET
value must also be stored on
floppy disk. This is done while you are still looking
at the resolver values by pressing:
FILE
SAVE AS
The resolver values will automatically use the file
name of
MOC.CFG
. You may use a different filename
if desired but it is not recommended. Save these
values to your Boot Disk 4 and all back up copies.