Installation and Commissioning
Installation and Commissioning Installation and Commissioning
RepairsCalibration8. Press the function key All to select all axes, if all axes are to be calibrated.Otherwise, select the desired axis and press the function key Incl (the selected axisis marked with an x).9. Confirm your choice by pressing OK. The window shown in Figure 9 appears.Calibration!Robot- - - - - WARNING - - - - -The calibration for all marked axeswill be changed.It cannot be undone.OK to continue?CancelOKFigure 9 The dialog box used to start the calibration.10. Start the calibration by pressing OK.An alert box is displayed during the calibration.The Status window appears when the fine calibration is complete. The revolutioncounters are always updated at the same time as the calibration is performed.The robot is now roughly calibrated.11. Remove the protective plate from the reference surface on the manipulator base.12. Attach the calibration tool for axis 1 on the guide pin underneath the gearbox, seeFigure 10.Tool no.6808 0011-GRTool no.3HAB 1378-1Guide pin in gearboxFigure 10
CalibrationRepairs13. Release the brakes and move the manipulator manually so that the tool6808 0011-GR can be located in the guide hole on the reference plane.14. Update axis 1 only, as described above.15. Remove the calibration too for axis 1.16. Fit the reference plane no. 6808 0011-GM on the foot.17. Calibrate the sensors against each other, using the reference plane surface. See Figure11. The sensors must be calibrated every time they are used for a new direction.Level sensors0000Reference planeCalibrating sensorsfor axes 2, 3 and 5Calibrating sensorsfor axes 4 and 6Figure 11 Calibrating the sensors.18. Fit the angle shelf no. 6808 0011-LP on the lower arm. Adjust the angle of theshelf, with the help of the sensors, before starting calibration.19. Fit the angle shelf no. 6808 0011-GU on the turning disc.20. Position the sensors as shown Figure 12, for axis 2.21. Run the manipulator so that the instrument shows 0 ±16 increments (0.4 mm/m).22. Update axis 2 as described above. Remove the sensors.23. Select the Program window and open the file CAL1400 on the Controller Parameterdisk. Run the program and select Calib: Cal3. The robot will now move itselfto the position for calibration of axis 3.24. Put the sensors on the shelf and jog the robot to the calibration position,0±16 increments. See Figure 12.25. Update axis 3, as described above. Remove the sensors.26. Run the calibration program 4A on the system diskette.27. Calibrate the sensors for a new direction. See Figure 11.28. Run axis 4 to the correct position as indicated by the instrument, 0 ±32 increments.29. Update axis 4 as described above. Remove the sensors.42 Product Manual IRB 1400
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CalibrationRepairs13. Release the brakes <strong>and</strong> move the manipulator manually so that the tool6808 0011-GR can be located in the guide hole on the reference plane.14. Update axis 1 only, as described above.15. Remove the calibration too for axis 1.16. Fit the reference plane no. 6808 0011-GM on the foot.17. Calibrate the sensors against each other, using the reference plane surface. See Figure11. The sensors must be calibrated every time they are used for a new direction.Level sensors0000Reference planeCalibrating sensorsfor axes 2, 3 <strong>and</strong> 5Calibrating sensorsfor axes 4 <strong>and</strong> 6Figure 11 Calibrating the sensors.18. Fit the angle shelf no. 6808 0011-LP on the lower arm. Adjust the angle of theshelf, with the help of the sensors, before starting calibration.19. Fit the angle shelf no. 6808 0011-GU on the turning disc.20. Position the sensors as shown Figure 12, for axis 2.21. Run the manipulator so that the instrument shows 0 ±16 increments (0.4 mm/m).22. Update axis 2 as described above. Remove the sensors.23. Select the Program window <strong>and</strong> open the file CAL1400 on the Controller Parameterdisk. Run the program <strong>and</strong> select Calib: Cal3. The robot will now move itselfto the position for calibration of axis 3.24. Put the sensors on the shelf <strong>and</strong> jog the robot to the calibration position,0±16 increments. See Figure 12.25. Update axis 3, as described above. Remove the sensors.26. Run the calibration program 4A on the system diskette.27. Calibrate the sensors for a new direction. See Figure 11.28. Run axis 4 to the correct position as indicated by the instrument, 0 ±32 increments.29. Update axis 4 as described above. Remove the sensors.42 Product Manual IRB 1400
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