5 Calibration, M20005.2.3 Checking the calibration position3HAC021111-001 Revision: B 1055.2.3 Checking the calibration positionGeneral Check the calibration position before beginning any programming of the robot system. Thismay be done in one of two ways:• Using the program CALxxxx in the system software (xxxx signifying the robot type;IRB xxxx)• Using the Jogging window on the teach pendantUsing theprogramCALxxxx in thesystem softwareUsing theJogging windowon the teachpendantStep Action Button1. Run the program \SYSTEM\UTILITY\SER-VICE\CALIBRAT\CALxxxx in the system and fol-low the instructions displayed on the teachpendant.2. Switch to MOTORS OFF when the robot stops.Check that the calibration marks for that particu-lar axis align correctly. If they do not, update therevolution counters.Calibration marks are shown insection Calibration scales andcorrect axis position on page102.Detailed in section Updating therevolution counters on page 127.3. Check that resolver offset values in the systemparameters match those on the parameter diskdelivered with the robot or those establishedwhen calibrating the robot (after a repair, etc).Step Action Illustration1. Open the Jogging window.xx01000001952. Choose running axis-by-axis.xx01000001963. Manually run the robot axis to a position wherethe resolver offset value read, is equal to zero.4. Check that the calibration marks for that particu-lar axis align correctly. If they do not, update therevolution counters !Shown in section Calibrationscales and correct axis positionon page 102.Detailed in section Updating therevolution counters on page127.
