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TIP!
Lock the axes previous to the one calibrated to minimize the risk of accidentally moving other
axes! In case of accidental movement of previous axes, the calibration procedure must be
restarted from the moved axis and continued in increasing sequence!
Calibration, axis 3
Step
3HAC 022907-001 Revision: -
Action
1.
Clean the manipulator turning disk with
isopropanol.
2.
Fit the sync adapter (if required) to the turning
disk, using a guide pin.
Fit the turning disk fixture (incl. guide pin) on the
turning disk / sync adapter.
3.
Turn the tool clockwise against the pin at the
same time as the screws are tightened.
4.
Run the program
\SYSTEM\UTILITY\SERVICE\CALIBRAT\CALxx
xx (xxxx=robot model, e.g. 7600) in the system
and select Calib: CAL3.
The robot moves to the position for calibration of
axis 3.
5.
Reset the levelmeter with correct orientation of
the sensor for calibration of axis 3.
6.
Fit the calibration sensor unit (sensor and plate)
on the turning disk fixture.
Carefully tighten the securing screws with
approximately the same tightening torque used at
the reference plane.
7.
-
Tip!
Reduce the jogging velocity in order to easily
position the axis as close to zero as possible!
8.
Manually run axis 3 with the joystick to the correct
position as indicated by the levelmeter.
3 Calibration
3.10. Calibration, axis 3
Note
Art. no. is specified in
Required
equipment
on page 54 .
Art. no. for the adapter/ fixture
and dimension for the guide pin,
if used, are specified in
Required
equipment
on page 54 .
Detailed in section
Resetting of
Levelmeter 2000 and sensor
page 69.
Shown in the section
Positions
and directions of sensor
on page
25!
Correct measurement on the
levelmeter:
IRB 140, IRB 6400R: 0 ± 0.20
mm/m
IRB 1400, IRB 2400, IRB 4400:
0 ± 0.40 mm/m
IRB 6600, IRB 6650, IRB 6650S,
IRB 7600: 0 ± 0.05 mm/m
on
55
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