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3.2.1. About Calibration Pendulum II

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The Calibration Pendulum II is used in field, to restore the robot home position, eg. after
service activities. (Calibration Pendulum II is a function included in the service routine
Calibration Pendulum.)
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In the calibration procedure the position of the sensor is first measured at the reference plane.
Then the pendulum calibration sensor is placed on each axis and the robot is run to its
calibration position, thus reducing the sensor difference to close to zero.
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The robots upper arm must be free from any peripheral equipment during calibration. Fitted
tools and similar ZLOO cause erroneous calibration positions.
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Required tools for performing the Calibration Pendulum II procedure are specified in section
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38
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3HAC 16578-1 Revision: E