5.7 Checking the synchronization positionIntroductionCheck the synchronization position of the robot before beginning any programmingof the robot system. This may be done:• Using a MoveAbsJ instruction with argument zero on all axes.• Using the Jogging window on the FlexPendant.Using a MoveAbsJ instructionUse this procedure to create a program that runs all the robot axes to theirsynchronization position.NoteActionOn ABB menu tap Program editor.1Create a new program.2Use MoveAbsJ in the Motion&Proc menu.3Create the following program:MoveAbsJ [[0,0,0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]\NoEOffs, v1000, fine, tool04Run the program in manual mode.5See Synchronization marks andsynchronization position for axes onpage 228 and Updating revolutioncounters on page 231.Check that the synchronization marks for the axesalign correctly. If they do not, update the revolu-tion counters.6Using the jogging windowUse this procedure to jog the robot to the synchronization position of all axes.NoteActionOn the ABB menu, tap Jogging.1Tap Motion mode to select group of axesto jog.2Tap to select the axis to jog, axis 1, 2, or3.3Manually run the robots axes to a positionwhere the axis position value read on theFlexPendant, is equal to zero.4See Synchronization marks and synchron-ization position for axes on page 228 andUpdating revolution counters on page 231.Check that the synchronization marks forthe axes align correctly. If they do not, up-date the revolution counters.5Product manual - IRB 120 2493HAC035728-001 Revision: N© Copyright 2009-2017 ABB. All rights reserved.5 Calibration5.7 Checking the synchronization position
