ABB IRBP, Product Manual

Page: 99 / 334

Measuring the positioner
Note Action
Fit the laser sensor on to the bearing house using
the adjustment tool. 1
Fit the laser sensor on to the gearbox. 2
Start the laser sensors. 3
Attach the motor cable to the gearbox. 4
Rotate the bearing disc to -90 degrees (9 o’clock).
Note
Adjust the position of the disc during the measur-
ing process by rotating the set screws attached
to the adjustment tool if needed. It is possible to
adjust up to 2.5 mm.
5
Rotate the rotary disc to -90 degrees (9 o’clock). 6
Measure the laser position as position 1. 7
Rotate the bearing disc to +90 degrees (3 o’clock). 8
Rotate the rotary disc to +90 degrees (3 o’clock). 9
Measure the laser position as position 2. 10
Rotate the bearing disc to 0 degrees (12 o’clock). 11
Rotate the rotary disc to 0 degrees (12 o’clock). 12
Measure the laser position as position 3. 13
Calibrate the positioner. 14
Calibrating the positioner
Note Action
Measure the IRBP L. 1
Rotate the bearing disc to 0 degrees (12 o’clock). 2
Rotate the rotary disc to 0 degrees (12 o’clock). 3
Adjust the laser value by rotating the vertically
aligned set screws. 4
Rotate the bearing disc to -90 degrees (9 o’clock). 5
Rotate the rotary disc to -90 degrees (9 o’clock). 6
Adjust the laser value by rotating the horizontally
aligned set screws. 7
For more information about the al-
lowed deviations, see
Deviations
on page 100 .
Repeat the measurement process to make sure
that the calibration is correct.
Note
If the values from the laser reading is not within
the allowed deviation during calibration, then re-
calibrate and measure again. If the problem re-
main, please contact ABB.
8
Continues on next page
Product manual - IRBP /D2009 99
3HAC037731-001 Revision: T
© Copyright 2010-2020 ABB. All rights reserved.
3 Installation and commissioning
3.4.2 Orienting and securing the manipulator
Continued