ABB IRB 1660 Product Manual page 351

To calibrate a suspended or wall mounted robot, reference calibration must be
used. Reference values for a suspended or a wall mounted robot must be created
with the robot mounted at its working position, not standing on a floor.
To calibrate a suspended or wall mounted robot with the fine calibration routine,
the robot must first be taken down and mounted standing on the floor.
Product manual - IRB 1600/1660
3HAC026660-001 Revision: W
© Copyright 2006-2018 ABB. All rights reserved.
5 Calibration
5.4.1 Description of Axis Calibration
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