ABB CRB 1300, Руководство по эксплуатации продукта

Страница: 673 / 726

These axes are marked with Unrestricted in the FlexPendant window. Also the
following table shows the dependencies between the axes.
Requirements for axis positioning during calibration
Axis to calibrate
Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 Required
position of
axis
* * * * * - Axis 1
* * * 0 - 0 Axis 2
* * * - 0 0 Axis 3
* * - * * * Axis 4
X - * * * * Axis 5
- * * * * * Axis 6
Axis to be calibrated -
Unrestricted. Axis is allowed to be jogged to other position than 0 degrees. *
Axis must be put in position 0 degrees. 0
Special requirement X
System containing SafeMove
SafeMove will lose its synchronization to the controller if a new calibration is done.
New calibration values have to be downloaded to SafeMove, and a new SafeMove
calibration has to be done. Make sure that the user rights admit to change the
safety settings and to synchronize SafeMove.
How to calibrate a suspended or wall mounted robot
The CRB 1300 is fine calibrated floor standing in factory, prior to shipping.
To calibrate a suspended or wall mounted robot, reference calibration could be
used. Reference values for a suspended or a wall mounted robot must be created
with the robot mounted at its working position, not standing on a floor.
To calibrate a suspended or wall mounted robot with the fine calibration routine,
the robot must first be taken down and mounted standing on the floor.
Product manual - CRB 1300 673
3HAC083111-001 Revision: B
© Copyright 2022-2023 ABB. All rights reserved.
6 Calibration
6.4.1 Description of Axis Calibration
Continued