ABB IRB 930, Руководство по эксплуатации продукта

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6.3 Updating revolution counters
6.3.1 Updating revolution counters on OmniCore robots
Introduction
This section describes how to do a rough calibration of each manipulator axis by
updating the revolution counter for each axis, using the FlexPendant.
Coupled axes
When updating the revolution counters for a coupled axis, also the axis it is coupled
to needs to be at its synchronization position for the update to be correct; i.e. axis
4 needs to be in synchronization position when updating axis 3.
With reversed coupled joints, the relationship is the opposite, i.e. axis 4 needs to
be in synchronization position to update axis 3.
IRB 930 Coupled axes
x Axis 4, 3
Step 1 - Manually running the manipulator to the synchronization position
Use this procedure to manually run the manipulator to the synchronization position.
Note Action
Select axis-by-axis motion mode. 1
See Synchronization marks and synchron-
ization position for axes on page 557 .
Jog the manipulator to align the synchron-
ization marks. 2
Step 2 - Updating the revolution counter
with the FlexPendant on page 562
.
When all axes are positioned, update the
revolution counter. 3
Continues on next page
560 Product manual - IRB 930
3HAC086009-001 Revision: A
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6 Calibration
6.3.1 Updating revolution counters on OmniCore robots