ABB IRB 6400R User Manual

3 Calibration
3.17. Updating revolution counters
3HAC 022907-001 Revision: -72
3.17. Updating revolution counters
General
This section details how to perform a rough calibration of each robot axis, i.e. updating the
revolution counter value for each axis, using either the TPU or the FlexPendant.
Manually running the robot to the calibration position
This procedure details the first step when updating the revolution counter; manually running
the robot to the calibration position.
Correct calibration position of axis 4 and 6
When running the robot to calibration position, it is extremely important to make sure that
axes 4 and 6 of the below mentioned robots are positioned correctly. The axes do not have
any mechanical stops and can therefore be calibrated at the wrong turn.
Make sure the axes are positioned according to the correct calibration values, not only
according to the calibration marks. The correct values are found on a label, located either on
the lower arm or underneath the flange plate on the base.
At delivery the robot is in the correct position, do NOT rotate axis 4 or 6 at power up before
the revolution counters are updated.
If one of the below mentioned axes are rotated one or more turns from its calibration position
before updating the revolution counter, the exact calibration position will be lost due to
uneven gear ratio. This affects the following robots:
Step Action Note
1. Select axis-by-axis motion mode.
2. Jog the robot so that the calibration
marks lie within the tolerance zone.
IRB 140, 1400, 2400, 4400: Axes 5 and
6 must be positioned together!
Shown in section Calibration scales and
correct axis position on page 16.
3. When all axes are positioned, store the
revolution counter settings.
Detailed in sections:
Storing the revolution counter setting with
the TPU on page 73 (RobotWare 4.0).
Storing the revolution counter setting with
the FlexPendant on page 74 (RobotWare
5.0).
Robot variant Axis 4 Axis 6
IRB 140 Yes Yes
IRB 1400 Yes Yes
IRB2400L (5kg) Yes No
IRB6400 / 200kg Yes No
IRB6400R / 200kg Yes No
IRB6600 / 175kg_2,55 m Yes No
IRB6600 / others Yes Yes
IRB7600 Yes Yes

ABB IRB 6400R Specifications

General

Brand	ABB
Model	IRB 6400R
Category	Robotics
Language	English