ABB S4Cplus Instruction page 49

Reference position, IRB 1600
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A
Axis 1 IRB 140
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A
B
C
3HAC 16578-1 Revision: E
3.2.5. Calibration sensor mounting positions, CalPend
Calibration pendulum as reference sensor in reference position at base
Calibration pendulum as calibration sensor, axis 1
Locating pin
Calibration pendulum attachment screw
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