Installation and Commissioning

CalibrationRepairs1. Run the calibration program CAL1400 on the Controller Parameter disk. Select Normalposition, check the calibration marks for each axes.2. Run the calibration program again and select the desired calibration position(Hanging), see Figure 18.3. Change to the new calibration offset for axes 2 and 3, as follows:• Select the window SERVICE;• View: Calibration;• Calib: Calibrate;• Select axes 2 and 3• Then confirm by pressing OK two times.4. Change to the new calibration offset on the label, located under the flange plate onthe base. The new calibration offset values can be found as follows:• Select the window SYSTEM PARAMETERS;• Types: Motor;• Select axes 2 and 3;• Press Enter• Note the Cal offset value.5. Change to the new calibration position on axes 2 and 3, as follows:• Select the window SYSTEM PARAMETERS;• Topics: Manipulator;• Types: Arm;• Select axes 2 and 3;• Change Cal pos to -1.570796. The angle is in radians, see Figure 18.6. Restart the robot by selecting File: Restart.7. Mark the new calibration position for axes 2 and 3 with the punch marker.8. Save the system parameters on a floppy disk.50 Product Manual IRB 1400