5.6 Checking the calibration positionIntroductionCheck the calibration position before beginning any programming of the robotsystem. This may be done:• Using a MoveAbsJ instruction with argument zero on all axes.• Using the Jogging window on the FlexPendant.Using a MoveAbsJ instruction on the TPU, S4CplusUse this procedure to create a program that runs all the robot axes to their zeropositionNoteActionCreate the following program:MoveAbsJ [[0,0,0,0,0,0], [9E9,9E9,9E9,9E9,9E9,9E9]]\NoEOffs, v1000, z50, Tool01Run the program in manual mode.2See Calibration scale and correctaxis position on page390, and Updat-ing revolution counters on page 392.Check that the calibration marks for the axes aligncorrectly. If they do not, update the revolutioncounters.3Using 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, z50, Tool04Run the program in manual mode.5See Calibration scale and correctaxis position on page 390, and Updat-ing revolution counters on page 392.Check that the calibration marks for the axes aligncorrectly. If they do not, update the revolutioncounters.6Using the jogging window on the TPU, S4CplusUse this procedure to jog the robot to zero position of all axes.Illustration/NoteActionxx0100000195Open the Jogging window.1Continues on next page396 3HAC022033-001 Revision: M© Copyright 2007-2013 ABB. All rights reserved.5 Calibration information5.6 Checking the calibration position
