5.6 Checking the zero positionIntroductionCheck the zero position of the robot before beginning any programming of therobot system. This may be done:• Using a MoveAbsJ instruction with argument zero on all axes.• Using the Jogging window on the FlexPendant.Using a MoveAbsJ instructionUse this procedure to create a program that runs all the robot axes to their zeroposition.NoteActionOn ABB menu tap Program editor.1Create a new program.2Use MoveAbsJ in the Motion&Proc menu.3Create the following program:MoveAbsJ [[0,0,0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]\NoEOffs, v1000, fine, tool04Run the program in manual mode.5See Calibration scale and correctaxis position on page 364, and Updat-ing revolution counters on page 368.Check that the calibration marks for the axes aligncorrectly. If they do not, update the revolutioncounters.6Using the jogging windowUse this procedure to jog the robot to the zero position of all axes.NoteActionOn the ABB menu, tap Jogging.1Tap Motion mode to select group of axesto jog.2Tap to select the axis to jog, axis 1, 2, or3.3Manually run the robots axes to a positionwhere the axis position value read on theFlexPendant, is equal to zero.4See Calibration scale and correct axis pos-ition on page 364, and Updating revolutioncounters on page 368.Check that the calibration marks for theaxes align correctly. If they do not, updatethe revolution counters!5370 Product manual - IRB 26003HAC035504-001 Revision: G© Copyright 2009-2015 ABB. All rights reserved.5 Calibration information5.6 Checking the zero position
