ABB Levelmeter 2000 Instructions Manual page 49

Calibration, axis 1
The procedure below details how to mechanically calibrate axis 1.
Step
3HAC 022907-001 Revision: -
3.6. Calibration, axis 1, IRB 6600 / IRB 6650 / IRB 6650S / IRB 7600
Action
1. Switch the operating mode selector to MANUAL
MODE AT REDUCED SPEED.
2. Manually run the robot to the calibration position,
axis 1.
3. Remove the covers from the calibration tab at the
frame and the attachment point for the measuring
pin at the base.
4. Clean the surfaces with isopropanol and deburr
them.
5. Fit the calibration bracket to the calibration tab,
frame.
6. Fit the measuring pin to the base of the robot.
7. Fit the calibration tool over the measuring pin and
the calibration bracket, according to the figure
Calibration tool position
If the tool fits over the pin and the bracket
simultaneously, axis 1 is calibrated correctly.
If not, manually run axis 1 with the joystick until the
tool can be fiited over both the pin and the bracket!
8. Update only axis 1.
9. Remove the calibration tools.
10. Refit the covers to the tab at the frame and the
attachment point in the base.
on page 46.
3 Calibration
Note
Art. no. is specified in
Equipment on page 46.
Shown in the figure Calibration
tool position on page 46.
Shown in the figure Calibration
tool position on page 46.
Detailed in sections:
Fine calibration procedure on
TPU on page 65 (RobotWare
4.0).
Fine calibration procedure on
FlexPendant on page 67
(RobotWare 5.0).
47