5.6 Checking the zero position
Introduction
Check the zero position of the robot 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
Use this procedure to create a program that runs all the robot axes to their zero
position.
NoteAction
On ABB menu tap Program editor.1
Create a new program.2
Use MoveAbsJ in the Motion&Proc menu.3
Create the following program:
MoveAbsJ [[0,0,0,0,0,0],
[9E9,9E9,9E9,9E9,9E9,9E9]]
\NoEOffs, v1000, fine, tool0
4
Run the program in manual mode.5
See Calibration scale and correct
axis position on page 364, and Updat-
ing revolution counters on page 368.
Check that the calibration marks for the axes align
correctly. If they do not, update the revolution
counters.
6
Using the jogging window
Use this procedure to jog the robot to the zero position of all axes.
NoteAction
On the ABB menu, tap Jogging.1
Tap Motion mode to select group of axes
to jog.
2
Tap to select the axis to jog, axis 1, 2, or
3.
3
Manually run the robots axes to a position
where the axis position value read on the
FlexPendant, is equal to zero.
4
See Calibration scale and correct axis pos-
ition on page 364, and Updating revolution
counters on page 368.
Check that the calibration marks for the
axes align correctly. If they do not, update
the revolution counters!
5
370 Product manual - IRB 2600
3HAC035504-001 Revision: G
© Copyright 2009-2015 ABB. All rights reserved.
5 Calibration information
5.6 Checking the zero position
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