ABB S4Cplus Instruction page 72

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3.2.10. Checking the calibration position
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This section describes how to jog the robot to all axes zero position.
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This section describes how to jog the robot to all axes zero position.
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6. Check that the calibration marks for the axes align
correctly. If they do not, update the revolution
counters!
7. Check that the positions of axes 1-2-3 are
reached and that the calibration marks on axes 4-
5-6 are aligned correctly.
If they are not, update the revolution counters!
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1. Open the Jogging window.
2. Choose running axes-by-axes.
3. Manually run the robot axes to a position where the
axis position value read on the TPU, is equal to zero.
4. Check that the FDOLEUDWLRQ PDUNV for the axes align
correctly. If they do not, XSGDWH WKH UHYROXWLRQ FRXQWHUV!
Check that the positions of axes 1-2-3 are reached and
that the calibration marks on axes 4-5-6 are aligned
correctly.
If they are not, XSGDWH WKH UHYROXWLRQ FRXQWHUV!
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1. Tap Jogging in the ABB menu.
2. Tap Motion mode to choose group of axes to jog.
3. Tap axes 1-3 to jog axes 1, 2 or 3.
4. Manually run the robots axes to a position where the axis
position value read on the FlexPendant, is equal to zero.
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3HAC 16578-1 Revision: E
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