ABB IRB 6620 Product Manual page 313

Position of robot axes
The robot axes should be positioned close to 0 degrees before commencing the
calibration program. The axis chosen for calibration is then automatically run by
the calibration program to its exact calibration position during the calibration
procedure.
It is possible to position some of the other axes in positions different from 0 degrees.
Information about which axes are allowed to be jogged is given on the FlexPendant.
These axes are marked with Unrestricted in the FlexPendant window. Also the
following table shows the dependencies between the axes.
Requirements for axis positioning during calibration
Required
position of
axis
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
-
*
0
How to calibrate a suspended robot
The IRB 6620 is calibrated floor standing in factory, prior to shipping.
To calibrate a suspended robot, reference calibration must be used. Reference
values for a suspended robot must be created with the robot mounted at its working
position, not standing on a floor.
To calibrate a suspended robot with the fine calibration routine, the robot must
first be taken down and then be mounted standing on the floor.
Product manual - IRB 6620
3HAC027151-001 Revision: W
Axis to calibrate
Axis 1 Axis 2
- *
0 -
0 0
* *
* *
* *
Axis to be calibrated
Unrestricted. Axis is allowed to be jogged to other position than 0 degrees.
Axis must be put in position 0 degrees.
© Copyright 2006-2020 ABB. All rights reserved.
5.4.1 Description of Axis Calibration
Axis 3 Axis 4
* *
0 *
- *
* -
* *
* *
5 Calibration
Continued
Axis 5 Axis 6
* *
* *
* *
* *
- *
* -
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