ABB IRB 640, Руководство по эксплуатации продукта

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Calibration Repairs
52 Product Manual IRB 640
9.4 Setting the calibration marks on the manipulator
When starting up a new robot, you may receive a message telling you that the manipu-
lator is not synchronised. The message appears in the form of an error code on the teach
pendant. If you receive such a message, the revolution counter of the manipulator must
be updated using the calibration marks on the manipulator. See Figure 17.
Examples of when the revolution counter must be updated:
- when the battery unit is discharged
- when there has been a resolver error
- when the signal between the resolver and the measuring system board has
been interrupted
- when one of the manipulator axes has been manually moved without the con-
troller being connected.
It takes 36 hours’ operation to recharge the battery unit without any power interrup-
tions.
If the resolver values must be calibrated, this should be done as described in the chapter
on Repairs in the IRB 640 Product Manual.
WARNING
Working in the robot work cell is dangerous.
Press the enabling device on the teach pendant and, using the joystick, move the robot
manually so that the calibration marks lie within the tolerance zone (see Figure 22).
Note that axis 6 does not have any mechanical stop and can thus be calibrated at the
wrong faceplate revolution.
When all axes have been positioned as above, the values of the revolution counter can
be stored by entering the following commands on the teach pendant:
1. Press the Misc. window key (see Figure 18).
Figure 18 The Misc. window key from which the Service window can be selected
2
1
2 3
0
1
4 5 6
7 8 9
P3
P1 P2