5 Calibration information
5.5. Updating revolution counters
241 3HAC022032-001 Revision: E
© Copyright 2004-2008 ABB. All rights reserved.
5.5. Updating revolution counters
General
This section details how to perform a rough calibration of each robot axis, i.e. updating the
revolution counter value for each axis, using the pendant.
Step 1 - Manually running the robot to the calibration position
This procedure details the first step when updating the revolution counter; manually running
the robot to the calibration position.
Step 2 - Storing the revolution counter setting with the TPU
This section details the second step when updating the revolution counter; storing the
revolution counter setting with the TPU (RobotWare 4.0).
Action Note
1. Select axis-by-axis motion mode.
2. Jog the robot to place the calibration marks
within the tolerance zone.
IRB 140, 1400, 2400, 4400, 6600ID/
6650ID: Axes 5 and 6 must be positioned
together!
Shown in section Calibration scales and
correct axis position on page 238.
3. When all axes are positioned, store the
revolution counter settings.
Detailed in section:
Step 2 - Storing the revolution counter
setting with the TPU on page 241
(RobotWare 4.0).
Step 2 - Storing the revolution counter
setting with the FlexPendant on page 243
(RobotWare 5.0).
Action Note
1. Press the button "Miscellaneous" then ENTER to select the service
window.
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