10 Calibration
10.5.2 Alternative calibrating
200 A 3HAC 16245-1
10.5.2 Alternative calibrating
General The manipulator may be calibrated in any of three positions, shown in Alternative calibration
position on page 199.
Procedure
Step Action Illustration
1. Calibrate the robot in position 0 for all axes.
Set an alternative calibration position before installation if the final
installation makes it impossible to reach the calibration 0 position.
2. Run the calibration program CALxxx in the system\SYS-
TEM\UTILITY\SERVICE\CALIBRAT\.
(xxx = robot version, e.g. CAL6400)
3. Select Normal position, and check the calibration marks for each
axis.
4. Run the calibration program again and select the desired calibra-
tion position (Left or Right) as shown in Alternative calibration
position on page 199.
5. Change to the new calibration offset for axis 1, as detailed in New
calibration offset, axis 1 on page 202.
6. Note the new calibration offset on the label, located on the frame
to the left of motor axis 1 (remove the cover between axes 2 and
3). The new calibration offset values can be found as detailed in
Retrieving offset values on page 203.
7. Change to the new calibration position on axis 1 as detailed in
New calibration position, axis 1 on page 201.
8. Restart the robot by selecting Restart from the File menu.
9. Move the sync marks for axis 1 on the base to the new position.
10. The system parameters will be saved to the storage memory at
power off.
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