Updating Revolution Counters - ABB IRB 6650S Series Product Manual

5 Calibration

5.3 Updating revolution counters

5.3 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.
Step 1 - Manually running the manipulator to the synchronization position
Use this procedure to manually run the manipulator to the synchronization position.
1
2
3
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
label, located either on the lower arm, underneath the flange plate on the base or
on the frame.
At delivery the manipulator 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 non-integer gear ratio. This affects the following
manipulators:
Manipulator variant
IRB 6650S
If the synchronization 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 synchronization marks again (try both directions, if needed).
Continues on next page
396
Action
Select axis-by-axis motion mode.
Jog the manipulator to align the synchron-
ization marks.
When all axes are positioned, update the
revolution counter.
© Copyright 2004-2018 ABB. All rights reserved.
Note
See Synchronization marks and synchron-
ization position for axes on page
Step 2 - Updating the revolution counter
with the TPU on page 397
Step 2 - Updating the revolution counter
with the FlexPendant on page
Axis 4
Yes
394.
(BaseWare 4.0).
398.
Axis 6
Yes
Product manual - IRB 6650S
3HAC020993-001 Revision: Z