5.3 Updating revolution countersIntroductionThis section describes how to do a rough calibration of each manipulator axis byupdating the revolution counter for each axis, using the FlexPendant.Coupled axesWhen updating the revolution counters for a coupled axis, also the axis it is coupledto needs to be at its synchronization position for the update to be correct; i.e. axis4 needs to be in synchronization position when updating axis 5 and 6.With reversed coupled joints, the relationship is the opposite, i.e. axis 4 needs tobe in synchronization position to update axis 3.IRB 4600IRB 4450SIRB 4400IRB 2600IDIRB 2600IRB 2400IRB 910 SCIRB 1660IDIRB 1600IDIRB 1600IRB 1520IRB 1410IRB 140Coupled axesxxxxxxxAxis 4, 5, 6xxxxxAxis 5, 6xAxis 4, 3Step 1 - Manually running the manipulator to the synchronization positionUse this procedure to manually run the manipulator to the synchronization position.NoteActionSelect axis-by-axis motion mode.1See Synchronization marks and synchron-ization position for axes on page 341.Jog the manipulator to align the synchron-ization marks.2Step 2 - Updating the revolution counterwith the FlexPendant on page 346.When all axes are positioned, update therevolution counter.3Correct calibration position of axis 4 and 6When jogging the manipulator to synchronization position, it is extremely importantto make sure that axes 4 and 6 of the following mentioned manipulators arepositioned correctly. The axes can be calibrated at the wrong turn, resulting in anincorrect manipulator calibration.Make sure the axes are positioned according to the correct calibration values, notonly according to the synchronization marks. The correct values are found on alabel, located either on the lower arm, underneath the flange plate on the base oron the frame.At delivery the manipulator is in the correct position, do NOT rotate axis 4 or 6 atpower up before the revolution counters are updated.Continues on next pageProduct manual - IRB 1600/1660 3453HAC026660-001 Revision: W© Copyright 2006-2018 ABB. All rights reserved.5 Calibration5.3 Updating revolution counters
