5 Calibration information5.6. Checking the calibration position3HAC022033-001 Revision: E380© Copyright 2004 - 2008 ABB. All rights reserved.5.6. Checking the calibration positionGeneralCheck the calibration position before beginning any programming of the robot system. Thismay be done:• Using a MoveAbsJ instruction with argument zero on all axes.• Using the Jogging window on the teach pendant.Using a MoveAbsJ instruction on the TPU, S4CplusThis section describes how to create a program, which runs all the robot axes to their zeropositionUsing a MoveAbsJ instruction on the FlexPendant, IRC5This section describes how to create a program, which runs all the robot axes to their zeroposition.Action Note1. Create a new program.2. Use MoveAbsJ.3. Create the following program: MoveAbsJ[[0,0,0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]\NoEOffs, v1000, z50, Tool04. Run the program in manual mode.5. Check that the calibration marks for the axes aligncorrectly. If they do not, update the revolutioncounters!The calibration marks are shown insection Calibration scales andcorrect axis position on page 374.How to update the revolutioncounters is detailed in sectionUpdating revolution counters onpage 376Action Note1. On ABB menu tap Program Editor.2. Create a new program.3. Use MoveAbsJ in the Motion&Proc menu.4. Create the following program: MoveAbsJ[[0,0,0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]\NoEOffs, v1000, z50, Tool05. Run the program in manual mode.6. Check that the calibration marks for the axes aligncorrectly. If they do not, update the revolutioncounters!The calibration marks are shown insection Calibration scales andcorrect axis position on page 374.How to update the revolutioncounters is detailed in sectionUpdating revolution counters onpage 376.Continues on next page
