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LOSS OF CALIBRATION
Events may occur during use of the control unit which cause loss of the calibration constants or of the
number of resolver revolutions.
If there are no problems, the Ar:CAL message appears in the status window. If Ar:Turn is displayed, an
operation to restore resolver revolution is requested.
The Display Arm Status (DAS) command is used to trace the faulty axis.
Ar:—- which may be displayed in the status window of the programming terminal or PC
screen does not mean that a calibration procedure is necessary. It is usually sufficient to is
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sue the CARL (Configure, Arm, Reten_Mem, Load) command to recover the data from
RPT/Flash Eprom, or calibration data can also be recovered using the CARL/LOAD FILE
command.
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The 63511-13:SCC: RPT resolver primary shorted and 63521-13:SAX: RPT resolver secondary
shorted errors due, for example, to a break in a resolver cable or disconnection and reconnection of a
resolver connector, cause a count loss on the RPT module, if present, and the control unit must be
switched off; at the subsequent restart, the Turn-set operation must be performed with the robot posi
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tioned on the reference indexes.
The 61441 SAX: incorrect resolver reading error requires switching off the control unit. If the error has
also caused the RPT module, if present, to lose the count, at the subsequent restart, the Turn-set opera
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tion must be performed with the robot positioned on the reference indexes.
If the control unit has lost the calibration constants after loading a new software version, the CARL
(Configure Arm Reten_Mem Load) command must be invoked to read the previously stored calibration
constants from Flash Eprom or from the RPT module. If present, and if the RPT module has not been
disconnected, it will have retained the number of resolver revolutions; otherwise the robot must be posi-
tioned on the reference indexes and the Turn-set command must be invoked to restore the resolver rev-
olution count.
If all the information concerning calibration in the Flash Eprom or RPT module and on the C3G.SYS file
has been lost, use the CARL/F (Configure, Arm, Reten_Mem, Load/File) command to read the cali-
bration constants stored in the ASCII calibration file; a Turn-set operation is also needed to recover the
number of resolver revolutions.
MAIN OPERATIONS FOR SYSTEM USE C3G Plus
5-16 01/0498
CALIBRATION
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