Installation and Commissioning

RepairsCalibration9 CalibrationGeneralThe robot measurement system consists of one feedback unit for each axis and a measurementboard which keeps track of the current robot position. The measurement boardmemory is battery-backed.The measurement system needs to be carefully calibrated (as in Chapter 9.1) if any ofthe resolver values change. Resolver values change when any- part of the manipulator that affects the calibration position is replaced.The system needs to be coarsely calibrated (as in Chapter 9.2) if the contents of the revolutioncounter memory are lost. The memory may be lost if:- the battery is discharged.- a resolver error occurs- the signal between the resolver and measurement board is interrupted.9.1 Adjustment procedure using calibration equipment (fine calibration)The axes are calibrated in numerical order, i.e. 1 - 2 - 3 - 4 - 5 - 6.1. Move the robot to the calibration position, corresponding to the calibration marks,as shown in Figure 17.2. Calibrate all the axes as described below.3. Press the Misc. window key (see Figure 6).127 8 94 5 612 30P1P2P3Figure 6 The Misc. window key.4. Choose Service from the dialog box that appears on the display.Product Manual IRB 1400 39