Calibration Movement Directions For All Axes - ABB IRB 1200 Product Manual

5 Calibration

5.2.2 Calibration movement directions for all axes

5.2.2 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.
Manual movement directions
xx1300000365
Posi-
tion
A
C
E
812
(C)
Description
Axis 1
Axis 3
Axis 5
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(D)
(E)
(F)
(B)
(A)
Posi- Description
tion
B Axis 2
D Axis 4
F Axis 6
Product manual - IRB 1200
3HAC046983-001 Revision: S