ABB IRB 14000 - Calibrating the Robot with Fine Calibration Procedure; Moving the Robot to Its Calibration Position; Selecting the Calibration with Hall Sensors (Calhall) Routine; Setting the Running Speed to 100%

Calibrating the robot with fine calibration procedure
Moving the robot to its 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 419.
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.
Setting the running speed to 100%
NoteAction
Set the running speed to 100%.
en0300000470
1
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
Product manual - IRB 14000 421
3HAC052983-001 Revision: D
© Copyright 2015 - 2016 ABB. All rights reserved.
5 Calibration
5.4 Calibrating the robot
Continued