Preparing The Calibration Procedure, Calpend - ABB S4Cplus Instruction

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This section details all required preparations for performing Calibration Pendulum II
(CalPend).
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1. Make sure the robot is prepared for calibration.
(i.e. all service or installation activities are
completed and the robot is ready to run.)
2. Check that all required hardware is available for
calibrating the robot.
3. Remove all peripheral equipment from the upper
arm of the robot (eg. tools and dresspack).
4. Remove all the covers for the surfaces where to
fit the calibration and reference sensors and
clean them with isopropanol.
1RWH The same calibration pendulum is used as
a calibration sensor and as a reference sensor
depending on its function at the time. In the
calibration procedure the pendulum will be called
calibration sensor or reference sensor
depending on its function at the time.
5. Clean the guide pin holes.
6. Connect the calibration equipment to the robot
controller and start up the Levelmeter 2000.
7. Calibrate the robot.
8. Verify that the calibration was successfully
carried out.

3.2.2. Preparing the calibration procedure, CalPend

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Detailed in the
each robot.
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Mounting locations of reference and
calibration sensors are shown in
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Use isopropanol.
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Detailed in section
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