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Robot Calibration
Disassembly/Assembly
Guidelines
IRB 6400
Manually Entering Calibration Values (Cont)
3. Then select the axis desired and press ENTER.
See the screen below.
File
Edit
1 (6)
System Parameters
Manipulator
Motor
Motor
Info
Name
Use Motor Type
Commutator Offset
Calibration Offset
Com Offset Valid
Cal Offset Valid
irb_1 ...
3HAB 4039-1...
1.570800...
4.002827...
YES
YES
Cancel
OK
4. The information shown is:
NAME The name given to the axis
(example: motor_1).
CAL OFFSET The value of the resolver when
it is at the calibration position.
This value is in radians.
COM OFFSET The commutation value for the
motor. On the IRB 6400 this
value is always 1.570800. This
value is in radians.
CAL OFFSET VALID Confirmation that the
calibration values are
valid. This should be
“YES”.
COM OFFSET VALID Confirmation that the
commutation values are
valid. This should be
“YES”.
5. Move the cursor to CAL OFFSET . Press ENTER
and type the correct calibration values.
6. When completed press OK.
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