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1.2. When to calibrate

3HAC 16578-1 Revision: E8

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The system must be calibrated if one or more of the listed failures below occurs.

Changed resolver values

Calibrate the measurement system carefully as detailed in chapter &DOLEUDWLRQRQSDJH if

any of the resolver values has been changed. This may occur when parts affecting the

calibration position have been replaced on the robot.

Contents of the revolution counter memory are lost

Calibrate the system roughly as detailed in section 8SGDWLQJUHYROXWLRQFRXQWHUVRQSDJH

if the contents of the revolution counter memory are lost. This may occur when:

• the battery has been discharged

• a resolver error occurs

• the signal between a resolver and measurement board interrupted

• a robot axis has been moved while the control system was disconnected.

ABB S4Cplus Instruction

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