ABB IRB 6710 Product Manual

NoteActionA brief overview of the sequencethat will be run on the FlexPendantis given in Overview of the calibra-tion procedure on the FlexPendanton page 601.Follow the instructions given on the FlexPendant.5Restarting an interrupted calibration procedureIf the Axis Calibration procedure is interrupted before the calibration is finished,the RobotWare program needs to be started again. Use this procedure to takerequired action.ActionSituationPress and hold the three-position enablingdevice and press Play.The three-position enabling device on theFlexPendant has been released during robotmovement.Remove the calibration tool, if it is installed,and restart the calibration procedure fromthe beginning. See Starting the calibrationprocedure.The RobotWare program is terminated withPP to Main.If the calibration tool is in contact the robotaxis needs to be jogged in order to releasethe calibration tool. Jogging the axis in wrongdirection will cause the calibration tool tobreak. Directions of axis movement is shownin Calibration movement directions for allaxes on page 591Axis Calibration with SafeMove optionTo be able to run Axis Calibration, SafeMove needs to be unsynchronized. TheAxis Calibration routine recognizes if the robot is equipped with SafeMove and willforce SafeMove to unsynchronize automatically.However, SafeMove may generate other warning messages anytime during theAxis Calibration routine. When a warning message is displayed, tap Acknowledgeto confirm the unsynchronized state and continue Axis Calibration procedure.CAUTIONSafeMove must be synchronized after the calibration is completed.Continues on next pageProduct manual - IRB 6710 6033HAC085695-001 Revision: A© Copyright 2023 ABB. All rights reserved.6 Calibration6.4.4 Axis Calibration - Running the calibration procedureContinued