ABB IRB 6620LX Product Manual page 310

5 Calibration
5.3 Calibration and configuration of Joint Bound, axis 1
Continued
Calibrating axis 1
Use this procedure to calibrate axis 1 with the Axis Calibration method.
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310
Action
Configure Gravity Beta for the
robot.
Put the carriage in position to
align the fixed pin on the car-
riage with the bushing in the
Axis Calibration support
block. Manually update the
revolution counters.
Run the fine calibration
routine for Axis Calibration to
calibrate axis 1.
Fit the synchronization mark
plate on the carriage (B).
Find the position of the syn-
chronization mark plate for
the frame (A) by lining it up
against the plate on the car-
riage.
Fit the synchronization mark
plate to the frame, using a
drill for M5 screw hole dis-
tance 60 mm.
© Copyright 2009-2018 ABB. All rights reserved.
Note
See Setting the system parameters for a suspended or
tilted robot on page 100.
See Updating revolution counters on page
xx1700000973
See Axis Calibration - Running the calibration procedure
on page 327.
xx0900000387
A Synchronization mark plate on the frame, axis 1
B Synchronization mark plate on the carriage, axis
1
xx0900000388
Product manual - IRB 6620LX
314.
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3HAC035737-001 Revision: P