ABB Robotics IRB 1100 Product Manual page 579

Calibration of the robot is not finished until the calibration data is saved, as last
step of the calibration procedure.
Preparation prior to calibration
The calibration procedure is described in the FlexPendant while conducting it.
1
2
Performing the fine calibration procedure
Product manual - IRB 1100
3HAC064992-001 Revision: C
6.4.4 Axis Calibration - Running the calibration procedure
3 The robot moves to synchronization position.
4 Validate the synchronization marks.
5 The robot moves to preparation position.
6 Remove the protective cover from the fixed pin and the protection plug from
the bushing, if any, and install the calibration tool.
When calibrating axis 5, remove the protective cover from the fixed pin using
a tweezer, and install the calibration tool.
7 The robot performs a measurement sequence by rotating the axis back and
forth.
8 Remove the calibration tool and reinstall the protective cover on the fixed
pin and the protection plug in the bushing, if any.
After the calibration of axis 5, refit the protective cover on the fixed pin for
axis 5 using a tweezer.
9 The robot moves to verify that the calibration tool is removed.
10 Choose whether to save the calibration data or not.
Action
DANGER
While conducting the calibration, the robot needs
to be connected to power.
Make sure that the robot's working area is empty,
as the robot can make unpredictable movements.
Wipe the calibration tool clean.
Note
The calibration method is exact. Dust, dirt or color
flakes will affect the calibration value.
Note
If the calibration status is Not calibrated, the fine calibration must be performed
before running the axis calibration procedure.
WARNING
Before starting the calibration procedure, you must jog each axis and bring the
robot to synchronization position and make sure that all the notches are matched.
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6 Calibration
Continued
Note
Use a clean cloth.
Continues on next page
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