ABB FlexTrack IRT501 Series, Руководство по эксплуатации продукта

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5 Calibration
5.1 Overview
General
This chapter includes general information about different calibration methods and
also details procedures that do not require specific calibration equipment.
When the robot system must be recalibrated, it is done according to the
documentation enclosed with the calibration tools.
WARNING
Make sure no persons are on the FlexTrack when the carriage is in motion. Also
make sure that the FlexTrack's cover plates are free from loose objects, otherwise
they can get trapped between the carriage and the plates.
Note
The FlexTrack does not need to be calibrated during restart. The resolvers only
need to be calibrated when commissioning the system.
When to calibrate
The system must be calibrated if any of the below occurs.
The resolver values are changed
If resolver values are changed, the robot must be recalibrated using the calibration
methods supplied from ABB. Calibrate the FlexTrack IRT 501 carefully with standard
calibration. The resolver values will change when parts affecting the calibration
position are replaced on the FlexTrack IRT 501, e.g. motor, or part of transmission.
This is detailed in
Fine calibration on page 176 .
Contents of the revolution counter memory are lost
If the contents of the revolution counter memory are lost, the counters must be
updated as detailed in
Update revolution counters on page 177 . This will occur
when:
• the battery is discharged
• a resolver error occurs
• the signal between a resolver and measurement board is interrupted
• a robot axis is moved with the control system disconnected
The revolution counters must also be updated after the robot and controller are
connected at the first installation.
The FlexTrack IRT 501 is rebuilt
If the track has been rebuilt, e.g. after a crash or when the track has been changed
for other reachability, it needs to be recalibrated for new resolver values. This is
detailed in
Fine calibration on page 176 .
Product manual - FlexTrack IRT501-66/66R/90/90R 175
3HAW050008590-001 Revision: C
© Copyright 20042018 ABB. All rights reserved.
5 Calibration
5.1 Overview