7: Alternative Calibration; Alternative Calibration Position - ABB IRB 1400 Product Manual

7: Alternative calibration

7.0.1 Alternative calibration position

General
The manipulator may be calibrated in alternative positions. The regular calibration instruc-
tions detailed for each axis are intended for calibration position 0, i.e. the normal position
Calibration instructions for alternative positions are detailed in Alternative calibrating on
page 128.
Illustration
The illustration shows the available calibrating positions of a suspended robot.
xx0400001020
A
B
3HAC021111-001 Revision: B
Calibration program Normal, calibration position 0 (axes 2 and 3)
Calibration program Hanging, calibration position -1.570796 (axes 2 and 3)
7 Alternative calibration
7.0.1 Alternative calibration position
141