Calibration Scales And Correct Axis Position - ABB IRB 6650S - 200/3.0 Product Manual

5 Calibration information

5.3. Calibration scales and correct axis position

5.3. Calibration scales and correct axis position
Introduction
This section specifies the calibration scale positions and/or correct axis position for all robot
models.
Calibration scales/marks, IRB 6600, IRB 6650, IRB 6650S, IRB 7600
The illustration below shows the location of the calibration scales on specific plates and the
calibration marks directly in the casting at axes 2 and 3.
The figure shows IRB 6600, but the scales and their positions are the same for IRB 6650S
and IRB 7600.
xx0200000176
A1
A2
B1
B2
C1
C2
D
E
F
Calibration marks at axes 2 and 3
The calibration marks at axes 2, 3 and 6 shown in the figure above, consist of two single
marks that should be positioned opposite to one another when the robot is standing in its
calibration position. One of the marks is more narrow than the other and should be positioned
within the limits of the wider mark.
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Calibration scale, axis 1 (early design)
Calibration scale, axis 1 (later design)
Calibration scale, axis 2 (early design)
Calibration mark, axis 2 (later design)
Calibration scale, axis 3 (early design)
Calibration mark, axis 3 (later design)
Calibration scale, axis 4
Calibration scale, axis 5
Calibration scale, axis 6
3HAC020993-001 Revision: G