5 Calibration information5.5. Updating revolution counters3HAC023637-001 Revision: B1805.5. Updating revolution countersGeneralThis section details how to perform a rough calibration of each robot axis, i.e. updating therevolution counter value for each axis, using the pendant.Step 1 - Manually running the robot to the calibration positionThis procedure details the first step when updating the revolution counter; manually runningthe robot to the calibration position.Correct calibration position of axis 4 and 6When running the robot to calibration position, it is extremely important to make sure thataxes 4 and 6 of the below mentioned robots are positioned correctly. The axes can becalibrated at the wrong turn, resulting in wrong calibrated robot.Make sure the axes are positioned according to the correct calibration values, not onlyaccording to the calibration marks. The correct values are found on a label, located either onthe 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 beforethe revolution counters are updated.If one of the below mentioned axes are rotated one or more turns from its calibration positionbefore updating the revolution counter, the correct calibration position will be lost due touneven gear ratio. This affects the following robots:If the calibration marks seem to be wrong (even if the motor calibration data is correct), tryto rotate the axis one turn, update the revolution counter and check the calibration marksagain (try both directions, if needed).Action Note1. Select axis-by-axis motion mode.2. Jog the robot to place the calibration markswithin the tolerance zone.Shown in section Calibration scales andcorrect axis position on page 178.3. When all axes are positioned, store therevolution counter settings.Detailed in section:Step 2 - Storing the revolution countersetting with the FlexPendant on page 181(RobotWare 5.0).Robot variant Axis 4 Axis 6IRB 1600 No YesContinues on next page
