6 Calibration information6.0.6 Checking the calibration position138 3HAC021111-001 Revision: B6.0.6 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 a MoveAbsJ instruction with argument zero on all axes.• Using the Jogging window on the teach pendant.Using aMoveAbsJinstruction on theFlexPendant,IRC5This section describes how to create a program, which runs all the robot axes to their zeroposition.Using theJogging windowon the Flex-Pendant, IRC5This section describes how to jog the robot to all axes zero position.Action NoteOn ABB menu tap Program Editor.Create a new program.Use MoveAbsJ in the Motion&Proc menu.Create the following program: MoveAbsJ[[0,0,0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]\NoEOffs, v1000, z50, Tool0Run the program in manual mode.Check that the calibration marks for the axes aligncorrectly. If they do not, update the revolutioncounters!The calibration marks are shownin section Calibration scales,IRB 1400 on page 134.How to update the revolutioncounters is detailed in sectionUpdating revolution counters onpage 136.Action NoteTap Jogging in the ABB menu.Tap Motion mode to choose group of axes to jog.Tap axes 1-3 to jog axes 1, 2 or 3.Manually run the robots axes to a position where the axisposition value read on the FlexPendant, is equal to zero.Check that the calibration marks for the axes align cor-rectly. If they do not, update the revolution counters!The calibration marks areshown in section Calibrationscales, IRB 1400 on page134.How to update the countersis detailed in section Updat-ing revolution counters onpage 136.
