ABB IRB 2600ID, Руководство по эксплуатации продукта

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It is possible to position some of the other axes in positions different from 0 degrees.
Information about which axes are allowed to be jogged is given on the FlexPendant.
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
0
i
/ *
ii
0
i
/ *
ii
- * * * Axis 4
0 - * * * * Axis 5
- * * * * * Axis 6
i
Valid for IRB 2600.
ii
Valid for IRB 2600ID.
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
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.
For robots with EPS, the same applies as for SafeMove.
How to calibrate a suspended or wall mounted robot
The IRB 2600/IRB 2600 ID 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.
414 Product manual - IRB 2600
3HAC035504-001 Revision: AD
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5 Calibration
5.4.1 Description of Axis Calibration
Continued