ABB IRB 6620 User Manual

5.7 Checking the synchronization position
Introduction
Check the synchronization position of the robot before beginning any programming
of the robot system. This may be done:
• Using a MoveAbsJ instruction with argument zero on all axes.
• Using the Jogging window on the FlexPendant.
Using a MoveAbsJ instruction
Use this procedure to create a program that runs all the robot axes to their
synchronization position.
NoteAction
On ABB menu tap Program editor.1
Create a new program.2
Use MoveAbsJ in the Motion&Proc menu.3
Create the following program:
MoveAbsJ [[0,0,0,0,0,0],
[9E9,9E9,9E9,9E9,9E9,9E9]]
\NoEOffs, v1000, fine, tool0
4
Run the program in manual mode.5
See Synchronization marks and
synchronization position for axes on
page 310 and Updating revolution
counters on page 313.
Check that the synchronization marks for the axes
align correctly. If they do not, update the revolu-
tion counters.
6
Using the jogging window
Use this procedure to jog the robot to the synchronization position of all axes.
NoteAction
On the ABB menu, tap Jogging.1
Tap Motion mode to select group of axes
to jog.
2
Tap to select the axis to jog, axis 1, 2, or
3.
3
Manually run the robots axes to a position
where the axis position value read on the
FlexPendant, is equal to zero.
4
See Synchronization marks and synchron-
ization position for axes on page 310 and
Updating revolution counters on page 313.
Check that the synchronization marks for
the axes align correctly. If they do not, up-
date the revolution counters.
5
334 Product manual - IRB 6620
3HAC027151-001 Revision: T
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5 Calibration
5.7 Checking the synchronization position

ABB IRB 6620 Specifications

General

Brand	ABB
Model	IRB 6620
Category	Robotics
Language	English