Calibration Sensor Mounting Positions, Calpend - ABB S4Cplus Instruction

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3.2.5. Calibration sensor mounting positions, CalPend

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This section specifies the mounting positions and directions of all calibration sensors on all
robot systems using Calibration Pendulum II.
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Before fitting sensors to the robot:
Additional information on calibration, alternative calibration positions etc, may be found in
the Product manual of the robot.
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1RWH Release the compressed spring on the pendulum calibration tool after calibration of
axis 1. Also release the spring after calibration of axis 6 on IRB 260 and IRB 660.
Detailed instructions of how to compress/release the spring is given in section
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The illustrations below show the mounting positions and directions for both the reference
sensor and axis sensors on the robot. Notice that the pendulum is only fitted in one position
at a time! Notice also that the direction of the sensor is always the same, on each axis!
Reference position, IRB 140
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Make sure that there is no cabling that could affect the position of the sensor!
• Remove any position switches from axis 1. It is not possible to fit the sensor at the
reference position otherwise!
Calibration pendulum as reference sensor in reference position at base
.
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3HAC 16578-1 Revision: E
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