Calibration Movement Directions For All Axes - ABB IRB 6640 Product Manual

5.4. Calibration movement directions for all axes

Overview
When calibrating, the axis must consistently be run towards the calibration position in the
same direction in order to avoid position errors caused by backlash in gears and so on.
Positive directions are shown in the graphic below.
This is normally handled by the robot calibration software.
Calibration movement directions, 6 axes
Note! The graphic shows an IRB 7600. The positive direction is the same for all 6-axis
robots, except the positive direction of axis 3 for IRB 6400R which is in the opposite
direction!
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3HAC026876-001 Revision: F
5 Calibration information
5.4. Calibration movement directions for all axes
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