ABB IRB 14000, Руководство по эксплуатации

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4.4 Verifying the calibration position
Introduction
Verify the calibration position of the robot before beginning any programming of
the robot system. This may be done:
• Using a
MoveAbsJ
instruction with argument according to calibration position
degrees on all axes.
• Using the Jogging window on the FlexPendant.
Using a
MoveAbsJ
instruction
Use this procedure to create a program that runs all the robot axes to their
calibration position.
Note Action
On ABB menu tap Program editor . 1
Create a new program. 2
Use MoveAbsJ in the Motion&Proc menu. 3
Create the following program for the right arm:
MoveAbsJ [[0,-130,30,0,40,0], [-
135,9E9,9E9,9E9,9E9,9E9]]
\NoEOffs, v1000, fine, tool0;
4
Create the following program for the left arm:
MoveAbsJ [[0,-130,30,0,40,0],
[135,9E9,9E9,9E9,9E9,9E9]]
\NoEOffs, v1000, fine, tool0;
Run the program in manual mode. 5
See Calibration scale and correct
axis position on page 48 and Updat-
ing revolution counters on page 50 .
Verify that the calibration marks for the axes align
correctly. If they do not, then update the revolution
counters. 6
Using the jogging window
Use this procedure to jog the robot to the calibration position for all axes.
Note Action
On the ABB menu, tap Jogging . 1
Tap Motion mode to select group of axes
to jog.
2
Tap to select the axis to jog, axis 1, 2, or
3. 3
Degrees are specified in Exact axis posi-
tions in degrees on page 49 .
Manually run the robots axes to a position
where the axis position value read on the
FlexPendant, is equal to the calibration
position degrees. 4
See Calibration scale and correct axis pos-
ition on page 48 and Updating revolution
counters on page 50 .
Verify that the calibration marks for the
axes align correctly. If they do not, then
update the revolution counters! 5
56 Operating manual - IRB 14000
3HAC052986-001 Revision: E
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4 Calibration
4.4 Verifying the calibration position