4.3 Updating revolution counters
Introduction
This section describes how to do a rough calibration of each robot axis, which
updates the revolution counter value for each axis using the FlexPendant.
The procedure can be summarized accordingly:
1 Manually move the manipulator to the calibration position.
2 Select the Calibration with hall sensors (CalHall) routine.
3 Select the function Update of revolution counters.
4 Store the revolution counter setting.
Each step is described in detail in following sections.
Step 1 - Manually moving the manipulator to the calibration position
NoteAction
CAUTION
When releasing the holding brakes, the robot axes
may move very quickly and sometimes in unex-
pected ways!
1
The synchronization marks are
shown in Calibration scale and
correct axis position on page 48.
Release the brakes of the robot arm to be calib-
rated and move the arm manually so that the
synchronization mark of each joint is aligned.
The robot now stands in its calibration position.
2
There is a tolerance for the joint
position. The edge of a mark
should be at least within the area
of the opposite mark.
Step 2 - Selecting the Calibration with hall sensors (CalHall) routine
NoteAction
Open the Program Editor on the FlexPendant.1
Select the task that corresponds to the robot arm
to be calibrated. Tap Open.
2
If necessary, create a new program. This needs
to be done if no existing program is available.
3
Select Debug and tap PP to Main.4
Select Debug and tap Call Routine...5
Select CalHall.6
Go to Motor On and press the Start button.7
Continues on next page
50 Operating manual - IRB 14000
3HAC052986-001 Revision: E
© Copyright 2015-2018 ABB. All rights reserved.
4 Calibration
4.3 Updating revolution counters
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