Installation and Commissioning

RepairsCalibration9.3 Checking the calibration positionThere are two ways to check the calibration position; both are described below.Using the diskette, Controller Parameters:Run the program \ SERVICE \ CALIBRAT \ CAL 1400 (or 1400H) on the diskette, followintructions displayed on the teach pendant. When the robot stops, switch toMOTORS OFF. Check that the calibration marks for each axis are at the same level,see Figure 17. If they are not, the setting of the revolution counters must be repeated.Using the Jogging window on the teach pendant:Open the Jogging window and choose running axis-by-axis. Using the joystick,move the robot so that the read-out of the positions is equal to zero. Check that the calibrationmarks for each axis are at the same level, see Figure 17. If they are not, thesetting of the revolution counters must be repeated.9.4 Alternative calibration positionsThe robot must have been calibrated with calibration equipment at calibration position0 for all axes (the robot is delivered with calibration position 0), see Figure 18, beforeit can be calibrated in the alternative position.Axis 2 3 2 3Calibration prog. Normal HangingCal pos 0 0 - 1.570796 - 1.570796Figure 18 Calibration positions.Note!If the final installation makes it impossible to reach the calibration 0 position, an alternativecalibration position must be set before installation.Product Manual IRB 1400 49