ABB IRC5 with FlexPendant, Operating Manual

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6.2.3 Running RAPID program with uncalibrated mechanical unit
When is this useful?
If a servo gun is damaged or uncalibrated, you may want to run a service routine.
In order to run the service routine (or any RAPID code), even though an additional
axis is uncalibrated, the steps in this description must be followed.
How to get the program started
Action
Set the system parameter Active at Start Up (in type Mechanical Unit , topic Motion )
to No.
1
Set the system parameter Disconnect at Deactivate (in type Measurement Channel ,
topic Motion ) to Yes.
If any of the system parameter values are changed, restart the controller. 2
Deactivate the uncalibrated mechanical unit. 3
Move the program pointer to Main (otherwise the mechanical unit will be automatically
activated). 4
Run the service routine or other RAPID code. 5
256 Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
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6.2.3 Running RAPID program with uncalibrated mechanical unit