ABB IRB 1660 Product Manual page 359

Product manual - IRB 1600/1660
3HAC026660-001 Revision: W
5.4.4 Axis Calibration - Running the calibration procedure
4 Validate the synchronization marks.
5 The robot moves to preparation position.
6 Remove the protective cover from the fixed pin and the protection plug from
the bushing, if any, and install the calibration tool.
Use the removal tool included in the calibration tool box to remove the special
protection plug(s) on the turning disc.
IRB 1600
xx1700000407
IRB 1660ID
xx1700000410
When calibrating axis 6, push in the calibration tool into the turning disc until
the snap ring engages, no further.
On IRB 1600, this makes the calibration tool to stick out on the other side of
the turning disc. Any equipment fitted to the turning disc must therefor either
be removed or designed with a cavity, giving space to the calibration tool to
stick out.
7 The robot performs a measurement sequence by rotating the axis back and
forth.
8 Remove the calibration tool and reinstall the protective cover on the fixed
pin and the protection plug in the bushing, if any.
Refit the protection plug(s) to the turning disc, push until the steel spring ring
snaps into place.
© Copyright 2006-2018 ABB. All rights reserved.
5 Calibration
xx1700000408
xx1700000411
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