ABB IRB 6640, Руководство по эксплуатации продукта

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5 Calibration information
5.6. Checking the calibration position
395 3HAC026876-001 Revision: F
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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:
• Using a
MoveAbsJ
instruction with argument zero on all axes.
•
Using the Jogging window on the FlexPendant.
Using a MoveAbsJ instruction on the FlexPendant, IRC5
Use this procedure to create a program that runs all the robot axes to their zero position.
Using the Jogging window on the FlexPendant
This section describes how to jog the robot to all axes zero position.
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
the section
Calibration scale and
correct axis position on page 390 .
How to update the revolution
counters is detailed in section
Updating revolution counters on
page 392
.
Action Note
1. Tap Jogging in the ABB menu.
2. Tap Motion mode to select group of axes
to jog.
3. Tap to select the axis to jog, axis 1, 2, or 3.
4. Manually run the robots axes to a position
where the axis position value read on the
FlexPendant, is equal to zero.
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 the
section
Calibration scale and correct axis
position on page 390 .
How to update the counters is detailed in
section
Updating revolution counters on
page 392 .