5.5 Updating revolution countersIntroductionThis section describes how to do a rough calibration of each manipulator axis,which is updating the revolution counter value for each axis using the FlexPendant.Step 1 - Manually running the manipulator to the calibration positionUse this procedure to manually run the manipulator to the calibration position.NoteActionSelect axis-by-axis motion mode.1See Calibration scale and correct axis po-sition on page 540.Jog the manipulator to place the calibrationmarks within the tolerance zones.2Step 2 - Storing the revolution countersetting with the FlexPendant on page 542.When all axes are positioned, store the re-volution counter settings.3Correct calibration position of axis 4 and 6When running the manipulator to calibration position, it is extremely important tomake sure that axes 4 and 6 of the following mentioned manipulators are positionedcorrectly. The axes can be calibrated at the wrong turn, resulting in an incorrectlycalibrated manipulator.Make sure the axes are positioned according to the correct calibration values, notonly according to the calibration marks. The correct values are found on a label,located either on the lower arm, underneath the flange plate on the base or on theframe.At delivery the manipulator is in the correct position, do NOT rotate axis 4 or 6 atpower up before the revolution counters are updated.If one of the following mentioned axes are rotated one or more turns from itscalibration position before updating the revolution counter, the correct calibrationposition will be lost due to uneven gear ratio. This affects the following manipulators:If the calibration marks seem to be wrong (even if the motor calibration data iscorrect), try to rotate the axis one turn, update the revolution counter and checkthe calibration marks again (try both directions, if needed).Step 2 - Storing the revolution counter setting with the FlexPendantUse this procedure to store the revolution counter setting with the FlexPendant(IRC5).ActionOn the ABB menu, tap Calibration.1All mechanical units connected to the system are shown with their calibration status.Continues on next page542 3HAC044266-001 Revision: -© Copyright 2013 ABB. All rights reserved.5 Calibration information5.5 Updating revolution counters
