ABB IRB 4400/60 - 5.6 Checking the synchronization position

5.6 Checking the synchronization position
Introduction
Check the synchronization 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 on the TPU, S4Cplus
Use this procedure to create a program that runs all the robot axes to their
synchronization position.
NoteAction
Create the following program:
MoveAbsJ [[0,0,0,0,0,0], [9E9,
9E9,9E9,9E9,9E9,9E9]]
\NoEOffs, v1000, z50, Tool0
1
Run the program in manual mode.2
See Synchronization marks and
synchronization position for axes
on page 266 and Updating revolution
counters on page 269.
Check that the synchronization marks for the axes
align correctly. If they do not, update the revolution
counters.
3
Using a MoveAbsJ instruction
Use this procedure to create a program that runs all the robot axes to their
synchronization 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 Synchronization marks and
synchronization position for axes on
page 266 and Updating revolution
counters on page 269.
Check that the synchronization marks for the axes
align correctly. If they do not, update the revolu-
tion counters.
6
Continues on next page
274 Product manual - IRB 4400
3HAC022032-001 Revision: Q
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5 Calibration
5.6 Checking the synchronization position