ABB S4Cplus, Instruction

Page: 83 / 86

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81 3HAC 16578-1 Revision: E
© Copyri
ght
200
3-2007 ABB.
All rights reserved.
&
calibrating
roughly 42
sensors 32
with Calibration Pendulum II 40
with Reference Calibration 80
calibration
Calibration Pendulum II 9
,
38
marks/scales 10
position of sensor 46
Reference Calibration 9
,
72
robot home calibration 9
rough 42
sequence, CalPend 40
sequence, RefCal 80
tools 26
verification 68
when to calibrate 8
which robots 7
Calibration Pendulum II
equipment on robot 38
method 38
preparation 39
sequence 40
calibration position 42
checking 69
jogging to, FlexPendant 70
jogging to, TPU 70
scales 10
changed resolver values 8
'
defining values, RefCal 75
(
equipment on robot
Calibration Pendulum II 38
Reference Calibration 72
)
FlexPendant
calibration procedure, CalPend 67
jogging to calibration position 70
MoveAbsJ instruction 69
updating revolution counters 44
/
Levelmeter 2000
connections 30
power 31
settings 30
start up 30
0
MoveAbsJ instruction
FlexPendant 69
TPU 69
3
pendulum. See sensor.
position, robot
10
preparing
Calibration Pendulum II procedure 39
Reference Calibration procedure 78
reference surface at tool 73
sensor axes 1 and 6 64
5
Reference Calibration
defining values 75
equipment on robot 72
limitations 72
method 72
sequence 80
reference surface at tool 73
revolution counters
memory is lost 8
storing on FlexPendant 44
storing on TPU 43
updating 42
robot position 10
6
scales on robot 10
sensor
calibrating 32
checking 34
directions 46
mounting locations 46
preparation for axes 1 and 6 64
storage 28
sequence
CalPend 40
RefCal 80
storage of sensor 28
sync marks 10
7
tools 26
start up 30
storage 28
turning disk adapter 27
warm up 28
TPU
calibration procedure, CalPend 65
jogging to calibration position 70
MoveAbsJ instruction 69
updating revolution counters 43
turning disk adapter 27
8
updating revolution counters 42