5 Calibration information
5.5. Updating revolution counters
3HAC022033-001 Revision: K408
© Copyright 2004-2011 ABB. All rights reserved.
5.5. Updating revolution counters
Introduction
This section describes how to do a rough calibration of each robot axis, which is updating the
revolution counter value for each axis using the FlexPendant.
Step 1 - Manually running the robot to the calibration position
Use this procedure to manually run 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 following mentioned robots are positioned correctly. The axes can be
calibrated at the wrong turn, resulting in an incorrectly calibrated robot.
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 following mentioned axes are rotated one or more turns from its calibration
position before updating the revolution counter, the correct calibration position will be lost
due to uneven gear ratio. This affects the following robots:
If the calibration marks seem to be wrong (even if the motor calibration data is correct), try
to rotate the axis one turn, update the revolution counter and check the calibration marks
again (try both directions, if needed).
Action Note
1. Select axis-by-axis motion mode.
2. Jog the robot to place the calibration marks
within the tolerance zones.
Shown in the section Calibration scale and
correct axis position on page 406.
3. When all axes are positioned, store the
revolution counter settings.
Step 2 - Storing the revolution counter
setting with the TPU on page 409
(BaseWare 4.0).
Step 2 - Storing the revolution counter
setting with the FlexPendant on page 410.
Robot variant Axis 4 Axis 6
IRB 7600 Yes Yes
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