Calibration Movement Directions For All Axes - ABB IRB 4400 - 45 Product Manual

5 Calibration information

5.4. Calibration movement directions for all axes

5.4. Calibration movement directions for all axes
Overview
When calibrating, the axis must consistently be run towards the calibration position in the
same direction, in order to avoid position errors caused by backlash in gears etc. Positive
directions are shown in the figure below.
This is normally handled by the robot calibration software.
Calibration movement directions, 6 axes
Note! The figure shows an IRB 7600, but the positive direction is the same for all 6-axis
robots, except the positive direction of axis 3 for IRB 6400R which is in the opposite
direction!
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240 3HAC022032-001 Revision: E