Calibrating The Robot With The Dynacal System - ABB IRB 6400R Product On-Line Manual

Repairs
7. When the robot has been adjusted, the resolver value is stored by executing
commands on the teach pendant according to 11.
For Calibration set and tool number, see 12 Special Tools List Calibration Equipment.

9.3 .Calibrating the robot with the DynaCal system

The measurement cable is the most fragile part of the system. So always be
careful when manipulating it. Damaging the cable might compromise the
overall accuracy of the system.
When transporting the DynaCal system, avoid hitting the calibration unit
against other objects.
After every use, put both the DynaCal unit and the Adaptor back in the black
case.
1. Mount the DynaCal Calibration unit inside the working range of the manipulator
(see Figure 21 and Figure 22).
DynaCal unit
Figure 21 Location of DynaCal unit.
Product Manual IRB 6400R
Calibration
Measurement cable
<= 3.0 m
53