ABB S4Cplus Instruction page 58

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3.2.5. Calibration sensor mounting positions, CalPend
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The illustrations below show the mounting positions and directions for both the reference
sensor and axis sensors on the robot. Notice that the pendulum is only fitted in one position
at a time (the pendulum is used as both a reference and a calibration sensor)!
Reference position IRB 4400, IRB 4450S
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A
Axis 1 IRB 4400, IRB 4450S
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A
B
C
56
Calibration pendulum in reference sensor position
Calibration sensor, axis 1
Locating pin
Calibration pendulum attachment screw
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3HAC 16578-1 Revision: E