Calibration Scale And Correct Axis Position - ABB IRB 7600 - 500/2.55 Product Manual

5 Calibration information

5.3 Calibration scale and correct axis position

5.3 Calibration scale 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 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.
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.
390
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
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3HAC022033-001 Revision: M