ABB IRC5 with T10, Operating Manual

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4 Configuration
Startup
During startup (power-on) of the T10, it calibrates itself. During this period it must
be left still, preferably on a flat surface. During the calibration process, which may
take up to 30 seconds, a calibration symbol is shown on the display.
This symbol is shown during the calibration process. This is done during the
startup (power-on) of the device.
xx1400002071
Setting the reference direction
The device uses sensors to calculate its current orientation and requires a reference
(zero) direction in order to determine its own direction. Therefore, in order to use
the device, it has to be referenced. This is a very simple and fast process. The
reference button is used to set the reference direction of the device. Point the
device parallel to the X-direction of the robot base coordinate system and press
the button. This can be done at any time.
X
B
X
T10
Z
B
Y
B
xx1500000866
X direction in the base coordinate system X
B
Direction of the T10 device X
T10
A symbol shows that the reference direction of the device must be set.
The reference direction determines how the X- and Y-directions of the device are
aligned to the X- and Y-directions of the used coordinate system. The Z-direction
is always vertical. Since the orientation of the device is calculated, an error will be
accumulated over time. Sudden and fast movements of the device will increase
the accumulation. However, the current reference direction can be verified at any
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Operating manual - IRC5 with T10 23
3HAC050943-001 Revision: C
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4 Configuration