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3 Calibration
3.13. Calibration, axis 6
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 6
Step
64
Action
1.
Calibrate axis 5.
2.
Reset the levelmeter with correct orientation of
the sensor for calibration of axis 6.
3.
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.
4.
-
Tip!
Reduce the jogging velocity in order to easily
position the axis as close to zero as possible!
5.
Manually run axis 6 with the joystick to the correct
position as indicated by the levelmeter.
6.
Update only axis 6.
7.
Remove the sensor and the sync adapter / turning
disk fixture.
8.
Check the calibration according to section
calibration procedure
9.
Refit the cover plate on the reference surface at
the base.
Post
on page 78.
Note
Detailed in section
Calibration,
axis 5
on page 60.
Detailed in section
Resetting of
Levelmeter 2000 and sensor
page 69.
Shown in section
Positions and
directions of sensor
on page 25!
Correct measurement on the
levelmeter:
IRB 140, IRB 6400R: 0 ± 0.40
mm/m
IRB 1400, IRB 2400, IRB 4400:
0 ± 0.80 mm/m
IRB 6600, IRB 6650, IRB 6650S,
IRB 7600: 0 ± 0.05 mm/m
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).
3HAC 022907-001 Revision: -
on
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