ABB IRB 6400R - Checking the Calibration Position; Alternative Calibration Positions

Repairs Storing the values on the teach pendant
Product Manual IRB 6400R 73
11.2 Checking the calibration position
There are two ways to check the calibration position; both are described below.
Using the diskette, Controller Parameters:
Run the program \ SERVICE \ CALIBRAT \ CAL 6400 on the diskette, follow
instructions displayed on the teach pendant. When the robot stops, switch to MOTORS
OFF. Check that the calibration marks for each axis are at the same level, see Figure
37. If they are not, the setting of the revolution counters must be repeated.
Using the Jogging window on the teach pendant:
Open the Jogging window and choose running axis-by-axis. Using the joystick,
move the robot so that the read-out of the positions is equal to zero. Check that the
calibration marks for each axis are at the same level, see Figure 37. If they are not, the
setting of the revolution counters must be repeated.
11.3 Alternative calibration positions
Before it can be calibrated in one of the two alternative positions, the robot must have
been calibrated with calibration equipment at calibration position 0 for all axes (the
robot is delivered with calibration position 0). See Figure 38.
Figure 38 Calibration positions 0, 1 and 2 (Normal, Right and Left)
Note!
If the final installation makes it impossible to reach the calibration 0 position, an
alternative calibration position must be set before installation.
Cal.pos. 0
Cal.pos. 1 -90
o
Cal.pos. 2 +90
o
Y
X
Left (1.570796)
Right (-1.570796)