Installation and Commissioning

RepairsCalibration30. Run the calibration program 4B.31. The robot will now be standing in the correct position.32. Update axis 4 as described above.33. Calibrate the sensors for a new direction. See Figure 11.34. Put the sensors on the shelf and run the robot so that axis 5 comes to the correctcalibration position, 0 ±32 increments. See Figure 12.35. Update axis 5 as described above.36. Calibrate the sensors for a new direction. See Figure 11.37. Adjust axis 6, 0 ±32 increments. See Figure 12.38. Update axis 6 as described above.39. Save the calibration values on the system diskette, Set up. Select SYSTEMPARAMETERS and choose File: Save all as; SYSPAR Directory; OK; OK.40. Change the values on the plate, located underneath the plate .Axis 3Axis 4Axes 2, 3 and 5Axis 2Axes 4 and 6Axis 5Axis 6Figure 12 Calibration directions.Product Manual IRB 1400 43