Preparation For Using Sensor On Axes 1 And 6, Calpend - ABB S4Cplus Instruction

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3.2.6. Preparation for using sensor on axes 1 and 6, CalPend

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The procedure below details the preparation of the calibration pendulum before calibration of
axis 1 on all robots and axis 1 and 6 on IRB 260 and IRB 660.
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1. Compress the spring by moving
the inner hand wheel (axial
movement)
2. Rotate the inner hand wheel
clockwise on the shaft to lock the
spring in compressed position.
3. After calibration of axis 1 (or axis
6 on IRB 260 and IRB 660),
release the compressed spring.
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3HAC 16578-1 Revision: E