ABB IRB 6620 Product Manual page 308

5 Calibration
5.1.2 Calibration methods
Continued
For most cases after motor and transmission replacements that do not include
taking apart the robot structure, standard calibration is sufficient. Standard
calibration also supports wrist exchange.
References
Article numbers for the calibration tools are listed in the section
page
The calibration equipment for Calibration Pendulum is delivered as a complete
toolkit, including the Operating manual - Calibration Pendulum, which describes
the method and the different routines further.
308
347.
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Product manual - IRB 6620
3HAC027151-001 Revision: T