ABB IRB 6620 Product Manual page 319

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 6620
3HAC027151-001 Revision: W
5.4.4 Axis Calibration - Running the calibration procedure
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.
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.
Check if the standard calibration data for axes 4
or 5 are updated with wrist optimization.
This is shown in the Calibration Method Overview
window on the FlexPendant.
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5 Calibration
Continued
Note
Use a clean cloth.
If the data is optimized, the calibra-
tion routine Wrist Optimization
must be re-run after standard calib-
ration.
See Calibrating with Wrist Optimiza-
tion method on page 326.
Continues on next page
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