ABB M2000, Product Manual

Page: 170 / 234

5 Calibration information
5.5. Updating revolution counters
3HAC023297-001 Revision: A 168
5.5. Updating revolution counters
General
This section details how to perform a rough calibration of each robot axis, i.e. updating the
revolution counter value for each axis, using either the TPU or the FlexPendant.
Manually running the robot to the calibration position
This procedure details the first step when updating the revolution counter; manually running
the robot to the calibration position.
Correct calibration position of axis 4 and 6
When running the robot to calibration position, it is extremely important to make sure that
axes 4 and 6 of the below mentioned robots are positioned correctly. The axes do not have
any mechanical stops and can therefore be calibrated at the wrong turn.
Make sure the axes are positioned according to the correct calibration values, not only
according to the calibration marks. The correct values are found on a label, located either on
the lower arm or underneath the flange plate on the base.
At delivery the robot is in the correct position, do NOT rotate axis 4 or 6 at power up before
the revolution counters are updated.
If one of the below mentioned axes are rotated one or more turns from its calibration position
before updating the revolution counter, the exact calibration position will be lost due to
uneven gear ratio. This affects the following robots:
Step Action Note
1. Select axis-by-axis motion mode.
2. Jog the robot so that the calibration marks lie
within the tolerance zone. Shown in section Calibration scales
and correct axis position on page
166.
3. When all axes are positioned, store the
revolution counter settings. Detailed in sections:
Storing the revolution counter setting
with the TPU
on page 169
(RobotWare 4.0).
Storing the revolution counter setting
with the FlexPendant
on page 170
(RobotWare 5.0).
Robot variant Axis 4 Axis 6
IRB 140 Yes Yes