ABB Robotics IRB 4600 Manual page 357

Calibration of the robot is not finished until the calibration data is saved, as last
step of the calibration procedure.
Preparation prior to calibration
The calibration procedure is described in the FlexPendant while conducting it.
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Product manual - IRB 4600
3HAC033453-001 Revision: Y
5.4.4 Axis Calibration - Running the calibration procedure
5 The robot moves to preparation position.
6 Remove the protective cover from the fixed pin and the protection plug from
the bushing, if any, and install the calibration tool.
Use the removal tool included in the calibration tool box to remove the special
protection plug(s) on the turning disc.
IRB 4600 - 20/2.50:
xx1700000905
When calibrating axis 6, push in the calibration tool into the turning disc until
the snap ring engages, no further.
7 The robot performs a measurement sequence by rotating the axis back and
forth.
8 Remove the calibration tool and reinstall the protective cover on the fixed
pin and the protection plug in the bushing, if any.
Refit the protection plug(s) to the turning disc, push until the steel spring ring
snaps into place.
9 The robot moves to verify that the calibration tool is removed.
10 Choose whether to save the calibration data or not.
Action
DANGER
While conducting the calibration, the robot needs
to be connected to power.
Make sure that the robot's working area is empty,
as the robot can make unpredictable movements.
Wipe the calibration tool clean.
Note
The calibration method is exact. Dust, dirt or color
flakes will affect the calibration value.
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5 Calibration
Continued
Note
Use a clean cloth.
Continues on next page
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