Calibrating Axis 1, Without The Dynacal System - ABB IRB 6400R Product On-Line Manual

Calibration
System Requirements:
IBM PC with SVGA monitor and Windows 95/NT
How to calibrate one individual robot is described in this manual, for further
information, please see DynaCal User's Manual, supplied with the DynaCal kit.
Note! To be able to utilize the DynaCal system for calibration of axis 1, the robot, at
installation, must have been calibrated according to the DynaCal-method and the
measuring program that was created is available on a diskette. The DynaCal calibration
unit must then have been mounted on a location that can be utilized again, see DynaCal
User's Manual.
If the method, described above, not have been carried out, axis 1 must be calibrated
according to section 9.2.1.
If the robot at installation has been calibrated with the DynaCal system continue
according to section 9.3.

9.2.1 Calibrating axis 1, without the DynaCal System

1. Position the manipulator approximately in calibration position 0.
2. Select the MOTORS OFF mode.
3. Remove the cover plate on the reference surface on gearbox 1.
4. Attach the synchronisation bracket 3HAC 4663-2 (1) and stop (2) to the flat
surface and insert the corresponding measuring pin 6896 0011-YN (3) in one of the
three holes in the base.
Turn the operating mode selector to MANUAL REDUCED SPEED.
5. Operate the robot manually with the joystick until the measuring pin (3) is
positioned within the flat surface of the stop (2).
Be careful! Risk of injury!
6. Align the pin and stop with the calibration tool. See Figure 20.
Figure 20 Aligning the pin and stop with the calibration tool for axis 1.
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Repairs
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Product Manual IRB 6400R