ABB IRB 6700Inv Series Product Manual page 685

It is possible to position some of the other axes in positions different from 0 degrees.
Information about which axes are allowed to be jogged is given on the FlexPendant.
These axes are marked with Unrestricted in the FlexPendant window. Also the
following table shows the dependencies between the axes.
Requirements for axis positioning during calibration
Required
position of
axis
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
-
*
0
How to calibrate an inverted robot
The IRB 6700Inv is calibrated inverted in factory, prior to shipping. To recalibrate
an inverted robot, use either fine calibration or reference calibration routine.
Product manual - IRB 6700Inv
3HAC058254-001 Revision: L
Axis to calibrate
Axis 1 Axis 2
- *
0 -
0 0
* *
* *
* *
Axis to be calibrated
Unrestricted. Axis is allowed to be jogged to other position than 0 degrees.
Axis must be put in position 0 degrees.
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5.4.1 Description of Axis Calibration
Axis 3 Axis 4
* *
0 *
- *
* -
* *
* *
5 Calibration
Continued
Axis 5 Axis 6
* *
* *
* *
* *
- *
* -
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