Installation and Commissioning

RepairsCalibration9.2 Setting the calibration marks on the manipulatorWhen starting up a new robot, a message may be displayed telling you that the manipulatoris not synchronised. The message appears in the form of an error code on theteach pendant. If you receive such a message, the revolution counter of the manipulatormust be updated using the calibration marks on the manipulator. See Figure 17.Examples of when the revolution counter must be updated:- when the battery unit is discharged- when there has been a resolver error- when the signal between the resolver and the measuring system board hasbeen interrupted- when one of the manipulator axes has been manually moved without the controllerbeing connected.It takes 36 hours of operation to recharge the battery unit.If the resolver values must be calibrated, this should be done as described in the chapteron Repairs in the IRB 1400 Product Manual.WARNINGWorking in the robot work cell is dangerous.Press the enabling device on the teach pendant and, using the joystick, manually movethe robot so that the calibration marks lie within the tolerance zone (see Figure 17).N.B. Axes 5 and 6 must be positioned together.Note that axis 6 does not have any mechanical stop and can thus be calibrated at thewrong face-plate revolution. Do not manually operate axes 5 and 6 before the robot hasbeen calibrated.When all axes have been positioned as above, the values of the revolution counter canbe stored by entering the following commands on the teach pendant:1. Press the Misc. window key (see Figure 13).127 8 94 5 612 30P1P2P3Figure 13 The Misc. window key from which the Service window can be chosen.Product Manual IRB 1400 45