ABB IRB 6620 Product Manual page 322

5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued
However, SafeMove may generate other warning messages anytime during the
Axis Calibration routine. When a warning message is displayed, tap Acknowledge
to confirm the unsynchronized state and continue Axis Calibration procedure.
After calibration
1
2
3
4
322
CAUTION
SafeMove must be synchronized after the calibration is completed.
Action
Check the o-ring on the fixed calibration pin.
Replace if damaged or missing.
Reinstall the protective cover on the fixed calibra-
tion pin on each axis, directly after the axis has
been calibrated.
Replace the cover with new spare part, if missing
or damaged.
Reinstall the protective plug and sealing in the
bushing on each axis, directly after the axis has
been calibrated. Ensure that the sealing is not
damaged.
Replace the plug and the sealing with new spare
part, if missing or damaged.
If the standard calibration data for axes 4, 5 or 6
should be updated with wrist optimization, run the
calibration routine Wrist Optimization.
© Copyright 2006-2020 ABB. All rights reserved.
Note
xx1600002102
Protection cover and plug set:
3HAC056806-001.
xx1500000952
Protection cover and plug set:
3HAC056806-001.
See Calibrating with Wrist Optimiz-
ation method on page 326.
Product manual - IRB 6620
3HAC027151-001 Revision: W