ABB IRB 6600 - 225/2.55 type B, Руководство по эксплуатации продукта

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5 Calibration information
5.6. Checking the calibration position
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5.6. Checking the calibration position
General
Check the calibration position before beginning any programming of the robot system. This
may be done in one of two ways:
• Using a MoveAbsJ instruction with argument zero on all axes.
•
Using the Jogging window on the teach pendant.
Using a MoveAbsJ instruction on the TPU, S4Cplus
This section describes how to create a program, which runs all the robot axes to their zero
position
Using a MoveAbsJ instruction on the FlexPendant, IRC5
This section describes how to create a program, which runs all the robot axes to their zero
position.
Action Note
1. Create a new program.
2. Use MoveAbsJ.
3. Create the following program:
MoveAbsJ
[[0,0,0,0,0,0],[9E9,9E9,9E9,9E9,9E9,
9E9]]\NoEOffs, v1000, z50, Tool0
4. Run the program in manual mode.
5. Check that the calibration marks for the axes align
correctly. If they do not, update the revolution
counters!
The calibration marks are shown in
section
Calibration scales and
correct axis position on page 412 .
How to update the revolution
counters is detailed in section
Updating revolution counters on
page 415
Action Note
1. On ABB menu tap Program Editor.
2. Create a new program.
3. Use MoveAbsJ in the Motion&Proc menu.
4. Create the following program:
MoveAbsJ
[[0,0,0,0,0,0],[9E9,9E9,9E9,9E9,9E9,
9E9]]\NoEOffs, v1000, z50, Tool0
5. Run the program in manual mode.
6. Check that the calibration marks for the axes align
correctly. If they do not, update the revolution
counters!
The calibration marks are shown in
section
Calibration scales and
correct axis position on page 412 .
How to update the revolution
counters is detailed in section
Updating revolution counters on
page 415
.
Continues on next page