Calibration Movement Directions For All Axes - ABB IRB 660 Product Manual

5 Calibration

5.2.2 Calibration movement directions for all axes

5.2.2 Calibration movement directions for all axes
Overview
When calibrating, the axis must consistently be run towards the calibration position
in the same direction in order to avoid position errors caused by backlash in gears
and so on. Positive directions are shown in the graphic below.
Calibration service routines will handle the calibration movements automatically
and these might be different from the positive directions shown below.
Manual movement directions, 4 axes
Note! The graphic shows an IRB 260. The positive direction is the same for all
4-axis robots
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Product manual - IRB 660
3HAC025755-001 Revision: W