ABB IRB 6700I, Руководство по эксплуатации продукта

Страница: 692 / 730

Note Action
The FlexPendant will give all inform-
ation needed to proceed with Axis
Calibration. Calibration method used at factory for each axis
is shown, as well as calibration method used for
the robot during last field calibration. 3
Tap Run Calibration Method . The software will
automatically call for the procedure for the valid
calibration method.
xx1500000944
A brief overview of the sequence
that will be run on the FlexPendant
is given in
Overview of the calibra-
tion procedure on the FlexPendant
on page 689
.
Follow the instructions given on the FlexPendant. 4
Restarting an interrupted calibration procedure
If the Axis Calibration procedure is interrupted before the calibration is finished,
the RobotWare program needs to be started again. Use this procedure to take
required action.
Action Situation
Press and hold the three-position enabling
device and press
Play .
The three-position enabling device on the
FlexPendant has been released during robot
movement.
Remove the calibration tool, if it is installed,
and restart the calibration procedure from
the beginning. See
Starting the calibration
procedure on page 691 .
The RobotWare program is terminated with
PP to Main .
If the calibration tool is in contact the robot
axis needs to be jogged in order to release
the calibration tool. Jogging the axis in wrong
direction will cause the calibration tool to
break. Directions of axis movement is shown
in
Calibration movement directions for all
axes on page 679
Axis Calibration with SafeMove option
To be able to run Axis Calibration, SafeMove needs to be unsynchronized. The
Axis Calibration routine recognizes if the robot is equipped with SafeMove and will
force SafeMove to unsynchronize automatically.
Continues on next page
692 Product manual - IRB 6700Inv
3HAC058254-001 Revision: L
© Copyright 2017 - 2020 ABB. All rights reserved.
5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued