Calibration Movement Directions For All Axes - ABB Robotics IRB 6790 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, 6 axes
Note! The graphic shows an IRB 7600. The positive direction is the same for all
6-axis robots, except the positive direction of axis 3 for IRB 6400R, which is in the
opposite direction!
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Product manual - IRB 6790
3HAC063331-001 Revision: B