ABB Levelmeter 2000 Instructions Manual page 22

2 Reference information
2.4. Calibration scales and correct axis position
Calibration scales/marks, IRB 6600, IRB 6650, IRB 6650S,IRB 7600
The illustration below shows the location of the calibration scales on specific plates and the
calibration marks directly in the casting at axes 2 and 3.
The figure shows IRB 6600, but the scales and their positions are the same for IRB 6650S
and IRB 7600.
xx0200000176
A1
A2
B1
B2
C1
C2
D
E
F
Calibration marks at axes 2 and 3
The calibration marks at axes 2 and 3, shown in the figure above, consist of two single marks
that should be positioned opposite to one another when the robot is standing in its calibration
position. One of the marks is more narrow than the other and should be positioned within the
limits of the wider mark.
20
Calibration scale, axis 1 (early design)
Calibration scale, axis 1 (later design)
Calibration scale, axis 2 (early design)
Calibration mark, axis 2 (later design)
Calibration scale, axis 3 (early design)
Calibration mark, axis 3 (later design)
Calibration scale, axis 4
Calibration scale, axis 5
Calibration scale, axis 6
3HAC 022907-001 Revision: -