Calibration Movement Directions For All Axes - ABB IRB 390 Product Manual

6.2.2 Calibration movement directions for all axes

Overview
When calibrating, the axis must consistently be run towards the calibration position
in the same direction in order to avoid position errors caused by backlash in gears
and so on. Positive directions are shown in the graphic below.
Calibration service routines will handle the calibration movements automatically
and these might be different from the positive directions shown below.
Calibration movement and jogging directions
The following graphic shows the positive and negative directions for each axis and
the linear directions when jogging the robot in the base coordinate system.
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Product manual - IRB 390
3HAC066566-001 Revision: B
6.2.2 Calibration movement directions for all axes
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6 Calibration
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