ABB IRB 640, Руководство по эксплуатации продукта

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Calibration Repairs
56 Product Manual IRB 640
1. Run the calibration program CAL64 on system disk IRB 2 (SERVICE.DIR\ CALI-
BRATE.DIR). Select Normal position, check the calibration marks for each axes.
2. Run the calibration program again and select the desired calibration position (Left or
Right), see Figure 23.
3. Change to the new calibration offset for axis 1, as follows:
• Select the window SERVICE;
• View: Calibration;
• Calib: Calibrate;
• Select axis 1 (no other axes)
• Then confirm by pressing OK two times.
4. Change to the new calibration offset on the label, located on the frame to the left of
motor axis 1 (remove the cover between axes 2 and 3). The new calibration offset values
can be found as follows:
• Select the window SYSTEM PARAMETERS;
• Types: Motor;
• Select axis 1;
• Press Enter
• Note the Cal offset value.
5. Change to the new calibration position on axis 1, as follows:
• Select the window SYSTEM PARAMETERS;
• Topics: Manipulator;
• Types: Arm;
• Select axis 1;
• Change Cal pos to 1.570796 or -1.570796 depending on selected calibration posi-
tion. The angle is in radians, see Figure 23.
6. Restart the robot by selecting File: Restart.
7. Move the sync.plate, on the base, for axis 1 to its new position.
8. Save the system parameters on a floppy disk.