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Calibration Procedures
Electrical
Troubleshooting Guide
IRB6400 M94A
Rough Resolver Calibration Procedure (Cont)
9. 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”.
10. The value to put on the paper is the CAL OFFSET
value.
11. The CAL OFFSET value must also be stored on the
floppy disk. This is done while you are still looking
at the resolver values by pressing:
FILE
SAVE AS
The resolver values will automatically use the file
name of MOC.CFG . You may use a different filename
if desired but it is not recommended. Save these
values to your Boot Disk 4 and all back up copies.
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