Updating Revolution Counters - ABB S4Cplus Instruction

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3.2.4. Updating revolution counters

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This section details how to perform a rough calibration of each robot axis, i.e. updating the
revolution counter value for each axis, using the pendant.
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This procedure details the first step when updating the revolution counter; manually running
the robot to the calibration position.
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Axis 4 has no mechanical limitation! Cabling inside the manipulator may be damaged if axis
4 is oriented incorrectly when performing calibration of the robot!
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When running the robot to calibration position, it is extremely important to make sure that
axes 4 and 6 of the below mentioned robots are positioned correctly. The axes can be
calibrated at the wrong turn, resulting in wrong calibrated robot.
Make sure the axes are positioned according to the correct calibration values, not only
according to the calibration marks. The correct values are found on a label, located either on
the lower arm or underneath the flange plate on the base.
At delivery the robot is in the correct position, do NOT rotate axis 4 or 6 at power up before
the revolution counters are updated.
If one of the below mentioned axes are rotated one or more turns from its calibration position
before updating the revolution counter, the correct calibration position will be lost due to
uneven gear ratio. This affects the following robots:
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IRB 140
IRB 1600
IRB 6400 / 200kg
IRB 6400R / 200kg
IRB 6600-175/2.55
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1. Select axis-by-axis motion mode.
2. Jog the robot to place the FDOLEUDWLRQ PDUNV
within the tolerance zone.
IRB 140, 1400, 2400, 4400, 6600ID/
6650ID: Axes 5 and 6 must be positioned
together!
3. When all axes are positioned, store the
revolution counter settings.
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Detailed in section:
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(RobotWare 4.0).
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(RobotWare 5.0).
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3HAC 16578-1 Revision: E