ABB S4Cplus, Instruction

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3.2.10. Checking the calibration position
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3-2007 ABB.
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Check the calibration position before beginning any programming of the robot system. This
may be done in one of two ways:
•
Using a MoveAbsJ instruction with argument zero on all axes.
• Using the Jogging window on the teach pendant.
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This section describes how to create a program, which runs all the robot axes to their zero
position
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This section describes how to create a program, which runs all the robot axes to their zero
position.
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1. Create a new program.
2. Use MoveAbsJ.
3. Create the following program:
MoveAbsJ
[[0,0,0,0,0,0],[9E9,9E9,9E9,9E9,9E9,
9E9]]\NoEOffs, v1000, z50, Tool0
4. Run the program in manual mode.
5. Check that the calibration marks for the axes align
correctly. If they do not, update the revolution
counters!
The calibration marks are shown in
section
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How to update the revolution
counters is detailed in section
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6. Check that the positions of axes 1-2-3 are reached
and that the calibration marks on axes 4-5-6 are
aligned correctly.
If they are not, update the revolution counters!
Detailed in section
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1. On ABB menu tap Program Editor.
2. Create a new program.
3. Use MoveAbsJ in the Motion&Proc menu.
4. Create the following program:
MoveAbsJ
[[0,0,0,0,0,0],[9E9,9E9,9E9,9E9,9E9,
9E9]]\NoEOffs, v1000, z50, Tool0
5. Run the program in manual mode.
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