FlexPendant Operators Manual 3HAC16590 ... - Technology

More documents

Recommendations

Info

11 Calibrating11.7. 4 points XZ calibration11.7. 4 points XZ calibrationBase Frame calibrationThis section describes the 4 points XZ calibration, in the Base Frame calibration options.Other calibration methods may be available in this menu depending on your installed options.4 points XZ calibrationThis section describes how to define the base frame using the 4 points XZ method. Thismethod means that you displace the base frame from the world frame a specified amount inthree dimensions and two planes.xx0400000782A Displacement distance between base frame and world frameX X-axis in the base frameY Y-axis in the base frameZ Z-axis in the base frameX’ X-axis in the world frame3HAC 16590-1 Revision: BContinues on next page283
11 Calibrating11.7. 4 points XZ calibrationContinuedY’ Y-axis in the world frameZ’ Z-axis in the world frameStep Action Info1. On the ABB menu, tap Calibration and select amechanical unit. Then tap Base Frame.2. Tap 4 points XZ....3. Tap ... to change reference point.A numerical keyboard and boxes for X, Y and Zvalues are displayed .4. Is a file available with all transformation data?If YES: Tap the Positions menu and then tap Load.Then select the file containing the values. Load thefile.If NO: Proceed to the next step.5. Enter the previously measured displacement in eachcoordinate box.Tap OK when done.6. Set up a fixed reference position within the workingrange of the robot, e.g. the tip of a pen secured to thework bench.7. Tap Point 1 to highlight the line.8. <strong>Manual</strong>ly run the robot to the previously fixedreference point.9. Tap Modify position.Modified is displayed on the status line.10. Re-orient the robot and again, run it to the referencepoint but from a different angle.11. Tap Elongator X to highlight the line.12. <strong>Manual</strong>ly run the robot to a position where the toolcenter point (TCP) touches an imaginary extension ofthe X-axis.13. Tap Modify position.Modified is displayed on the status line.14. To save the entered transformation data to a file, tapthe Positions menu and then Save. Enter the nameof the file and then tap OK.15. To delete all entered transformation data, tap thePositions menu and then Reset All.You have now specifiedthe amount ofdisplacement the baseframe will be moved fromthe world frame.Proceed below to specifythe direction of the newbase frame in relation tothe world frame.Repeat these steps untilpoints 1, 2, 3, and 4 havebeen modified.The imaginary X-axis isshown in the illustrationabove.Repeat these steps tomodify Elongator Z.2843HAC 16590-1 Revision: B
Page 1 and 2:
Operator’s manualFlexPendantIRC5M
Page 3 and 4:
The information in this manual is s
Page 5 and 6:
Table of Contents3.3.6 Backup and r
Page 7 and 8:
Table of Contents6.9.3 Running a sp
Page 9 and 10:
Table of Contents8
Page 11 and 12:
OverviewContinuedPrerequisitesThe r
Page 13 and 14:
Product documentation, M2004Continu
Page 15 and 16:
1 Safety1.2. Applicable safety stan
Page 17 and 18:
1 Safety1.3.1. Safety signals, gene
Page 19 and 20:
1 Safety1.3.2.2. DANGER - Moving ma
Page 21 and 22:
1 Safety1.3.3.1. WARNING - The unit
Page 23 and 24:
1 Safety1.3.4. What is an emergency
Page 25 and 26:
1 Safety1.3.6. What is safeguarding
Page 27 and 28:
1 Safety1.4.1. Stop the system1.4 H
Page 29 and 30:
1 Safety1.4.3. Extinguishing fires1
Page 31 and 32:
1 Safety1.4.5. Return to the progra
Page 33 and 34:
1 Safety1.5.2. For your own safety1
Page 35 and 36:
1 Safety1.5.4. Safety tools1.5.4. S
Page 37 and 38:
1 Safety1.5.6. Safety in automatic
Page 39 and 40:
2 Welcome to FlexPendant2.2. What i
Page 41 and 42:
Page 43 and 44:
Page 45 and 46:
2 Welcome to FlexPendant2.5. When t
Page 47 and 48:
2 Welcome to FlexPendant2.5. When t
Page 49 and 50:
2 Welcome to FlexPendant2.6. Button
Page 51 and 52:
3 Get started3.2.1. Connecting a Fl
Page 53 and 54:
3 Get started3.2.3. Connecting a PC
Page 55 and 56:
3 Get started3.2.4. Set up the netw
Page 57 and 58:
3 Get started3.3.1. About the Actio
Page 59 and 60:
3 Get started3.3.2. System start up
Page 61 and 62:
3 Get started3.3.3. JoggingContinue
Page 63 and 64:
3 Get started3.3.4. Using RAPID pro
Page 65 and 66:
3 Get started3.3.6. Backup and rest
Page 67 and 68:
3 Get started3.3.8. Granting access
Page 69 and 70:
3 Get started3.3.10. Installing sof
Page 71 and 72:
3 Get started3.3.12. General proced
Page 73 and 74:
4 Navigating and handling FlexPenda
Page 75 and 76:
Page 77 and 78:
Page 79 and 80:
Page 81 and 82:
Page 83 and 84:
Page 85 and 86:
Page 87 and 88:
Page 89 and 90:
Page 91 and 92:
Page 93 and 94:
Page 95 and 96:
Page 97 and 98:
Page 99 and 100:
Page 101 and 102:
Page 103 and 104:
Page 105 and 106:
Page 107 and 108:
5 Jogging5.2.1. Restrictions to jog
Page 109 and 110:
5 Jogging5.3.1. Selecting mechanica
Page 111 and 112:
5 Jogging5.3.2. Selecting motion mo
Page 113 and 114:
5 Jogging5.3.3. Selecting tool, wor
Page 115 and 116:
5 Jogging5.3.5. Jog axis by axis5.3
Page 117 and 118:
5 Jogging5.3.6. Jog in base coordin
Page 119 and 120:
5 Jogging5.3.7. Jog in world coordi
Page 121 and 122:
5 Jogging5.3.9. Jog in tool coordin
Page 123 and 124:
5 Jogging5.3.10. Locking the joysti
Page 125 and 126:
5 Jogging5.3.11. Incremental moveme
Page 127 and 128:
5 Jogging5.3.12. How to read the ex
Page 129 and 130:
5 Jogging5.3.13. Quickset menu, Mec
Page 131 and 132:
5 Jogging5.3.13. Quickset menu, Mec
Page 133 and 134:
5 Jogging5.3.14. Quickset menu, Inc
Page 135 and 136:
6 Programming and testing6.2.1. The
Page 137 and 138:
6 Programming and testing6.3.1. Vie
Page 139 and 140:
6 Programming and testing6.3.2. Cre
Page 141 and 142:
6 Programming and testing6.3.3. Edi
Page 143 and 144:
Page 145 and 146:
Page 147 and 148:
6 Programming and testing6.4.2. Def
Page 149 and 150:
Page 151 and 152:
Page 153 and 154:
6 Programming and testing6.4.6. Set
Page 155 and 156:
Page 157 and 158:
6 Programming and testing6.5.2. Def
Page 159 and 160:
Page 161 and 162:
6 Programming and testing6.5.5. Del
Page 163 and 164:
Page 165 and 166:
Page 167 and 168:
6 Programming and testing6.7.1. Han
Page 169 and 170:
Page 171 and 172:
Page 173 and 174:
Page 175 and 176:
Page 177 and 178:
Page 179 and 180:
Page 181 and 182:
Page 183 and 184:
6 Programming and testing6.8.1. Mir
Page 185 and 186:
6 Programming and testing6.8.2. Mod
Page 187 and 188:
6 Programming and testing6.8.3. Mov
Page 189 and 190:
Page 191 and 192:
Page 193 and 194:
Page 195 and 196:
Page 197 and 198:
6 Programming and testing6.9.1. How
Page 199 and 200:
6 Programming and testing6.9.2. Run
Page 201 and 202:
6 Programming and testing6.9.3. Run
Page 203 and 204:
6 Programming and testing6.9.4. Qui
Page 205 and 206:
Page 207 and 208:
6 Programming and testing6.9.6. Ste
Page 209 and 210:
Page 211 and 212:
6 Programming and testing6.10.1. Ru
Page 213 and 214:
6 Programming and testing6.10.3. Ca
Page 215 and 216:
6 Programming and testing6.10.5. Lo
Page 217 and 218:
Page 219 and 220:
Page 221 and 222:
7 Running in production7.1. Startin
Page 223 and 224:
7 Running in production7.3. Using m
Page 225 and 226:
7 Running in production7.4. Returni
Page 227 and 228:
7 Running in production7.5.1. Prese
Page 229 and 230:
7 Running in production7.5.3. About
Page 231 and 232:
7 Running in production7.5.4. Start
Page 233 and 234: 7 Running in production7.5.6. Runni
Page 235 and 236: 7 Running in production7.5.8. Switc
Page 237 and 238: 7 Running in production7.5.10. Swit
Page 239 and 240: 8 Handling inputs and outputs, I/O8
Page 245 and 246: 9 Handling the event log9.2. Deleti
Page 247 and 248: 9 Handling the event log9.3. Saving
Page 249 and 250: 10 Systems10.2.1. What is “the me
Page 251 and 252: 10 Systems10.2.2. The structure of
Page 253 and 254: 10 Systems10.2.3. File handling10.2
Page 255 and 256: 10 Systems10.3.2. Using the boot ap
Page 257 and 258: 10 Systems10.3.2. Using the boot ap
Page 259 and 260: 10 Systems10.3.4. Restart and selec
Page 261 and 262: 10 Systems10.3.6. Restart and delet
Page 263 and 264: 10 Systems10.3.8. Restart from prev
Page 265 and 266: 10 Systems10.3.9. Reflashing firmwa
Page 267 and 268: 10 Systems10.4.1. What is saved on
Page 269 and 270: 10 Systems10.4.3. Restore the syste
Page 271 and 272: 10 Systems10.5.1. Configuring syste
Page 273 and 274: 10 Systems10.5.1. Configuring syste
Page 275 and 276: 11 Calibrating11.2. Updating revolu
Page 277 and 278: 11 Calibrating11.3. Loading calibra
Page 279 and 280: 11 Calibrating11.5. Fine calibratio
Page 281 and 282: 11 Calibrating11.6. Serial Measurem
Page 283: 11 Calibrating11.6. Serial Measurem
Page 287 and 288: 12 Changing FlexPendant settings12.
Page 301 and 302: 13 Descriptions of terms and concep
Page 315 and 316: Indexprograms 165filteringabout 101
Page 317 and 318: Indexaxis computer 263contactor int
Page 319: Index318
show all

FlexPendant Operators Manual 3HAC16590 ... - Technology

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?