ABB IRB 2400/L User Manual

5.5 Updating revolution counters
Introduction
This section describes how to do a rough calibration of each manipulator axis by
updating the revolution counter for each axis, using the FlexPendant.
Coupled axes
When updating the revolution counters for a coupled axis, also the axis it is coupled
to needs to be at its synchronization position for the update to be correct; i.e. axis
4 needs to be in synchronization position when updating axis 5 and 6.
With reversed coupled joints, the relationship is the opposite, i.e. axis 4 needs to
be in synchronization position to update axis 3.
IRB 4600 IRB 4450S IRB 4400 IRB 2600ID IRB 2600 IRB 2400 IRB 910 SC IRB 1660ID IRB 1600ID IRB 1600 IRB 1520 IRB 1410 IRB 140
Coupled axes
xxxxxxxAxis 4, 5, 6
xxxxxAxis 5, 6
xAxis 4, 3
Step 1 - Manually running the manipulator to the synchronization position
Use this procedure to manually run the manipulator to the synchronization position.
NoteAction
Select axis-by-axis motion mode.1
See Synchronization marks and synchron-
ization position for axes on page 208.
Jog the manipulator to align the synchron-
ization marks.
IRB 140, 1400, 2400, 4400, 6600ID/6650ID,
6640ID: Axes 5 and 6 must be positioned
together!
2
Step 2 - Updating the revolution counter
with the TPU on page 211 (BaseWare 4.0).
When all axes are positioned, update the
revolution counter.
3
Step 2 - Updating the revolution counter
with the FlexPendant on page 213.
Correct calibration position of axis 4 and 6
When jogging the manipulator to synchronization position, it is extremely important
to make sure that axes 4 and 6 of the following mentioned manipulators are
positioned correctly. The axes can be calibrated at the wrong turn, resulting in an
incorrect manipulator calibration.
Make sure the axes are positioned according to the correct calibration values, not
only according to the synchronization marks. The correct values are found on a
Continues on next page
210 Product manual - IRB 2400
3HAC022031-001 Revision: P
© Copyright 2004-2018 ABB. All rights reserved.
5 Calibration information
5.5 Updating revolution counters

ABB IRB 2400/L Specifications

General

Brand	ABB
Model	IRB 2400/L
Category	Robotics
Language	English