ABB IRB 1100, Руководство по эксплуатации продукта

Страница: 733 / 766

Action Situation
Remove the calibration tool, if it is installed,
and restart the calibration procedure from
the beginning. See
Starting the calibration
procedure .
The RobotWare program is terminated with
PP to Main .
If the calibration tool is in contact the robot
axis needs to be jogged in order to release
the calibration tool. Jogging the axis in wrong
direction will cause the calibration tool to
break. Directions of axis movement is shown
in
Calibration movement directions for all
axes on page 716
Axis Calibration with SafeMove option
To be able to run Axis Calibration, SafeMove needs to be unsynchronized. The
Axis Calibration routine recognizes if the robot is equipped with SafeMove and will
force SafeMove to unsynchronize automatically.
However, SafeMove may generate other warning messages anytime during the
Axis Calibration routine. When a warning message is displayed, tap
Acknowledge
to confirm the unsynchronized state and continue Axis Calibration procedure.
CAUTION
SafeMove must be synchronized after the calibration is completed.
After calibration
Note Action
xx1900001421
Reinstall the protective cover on the fixed calibra-
tion pin on each axis, directly after the axis has
been calibrated.
Replace the cover with new spare part, if missing
or damaged. 1
Calibration pin cover, 6 mm:
3HAC061926-001
xx1500000952
Reinstall the protective plug and sealing in the
bushing on each axis, directly after the axis has
been calibrated. Ensure that the sealing is not
damaged.
Replace the plug and the sealing with new spare
part, if missing or damaged. 2
Protective plug for bushing:
3HAC059556-001.
Product manual - IRB 1100 733
3HAC064992-001 Revision: L
© Copyright 2019-2022 ABB. All rights reserved.
6 Calibration
6.4.4 Axis Calibration - Running the calibration procedure
Continued