10 Calibration
10.2.1 Checking the calibration position
3HAC 16245-1 A 181
Section 10.2: Preliminaries
10.2.1 Checking the calibration position
General Check the calibration position before any programming of the robot system can begin. This
may be done in one of two ways:
• Using the program CALxxxx in the system software (xxxx signifying the robot type;
IRB xxxx)
• Using the Jogging window on the teach pendant
Using the pro-
gram CALxxxx in
the system soft-
ware
Step Action Button
1. Run the program \SYSTEM\UTILITY\SER-
VICE\CALIBRAT\CALxxxx in the system and fol-
low the instructions displayed on the teach
pendant.
2. Switch to MOTORS OFF when the robot stops.
Check that the calibration marks for that particular
axis align correctly. If they do not, update the rev-
olution counters.
Calibration marks shown in
Calibration scales on page 194.
Detailed in Updating the revolu-
tion counter on page 183.
3. Check that resolver offset values in the system
parameters match those on the parameter disk
delivered with the robot or those established when
calibrating the robot (after a repair, etc).
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