ABB IRB 1200 Product Manual page 827

After the calibration method has been started on the FlexPendant, the following
sequence will be run.
Calibration of the robot is not finished until the calibration data is saved, as last
step of the calibration procedure.
Preparation prior to calibration
The calibration procedure is described in the FlexPendant while conducting it.
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2
3
Starting the calibration procedure
Use this procedure to start the Axis Calibration routine on the FlexPendant.
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Product manual - IRB 1200
3HAC046983-001 Revision: S
5.4.4 Axis Calibration - Running the calibration procedure
1 Choose calibration routine. The routines are described in
calibration procedure on page
2 Choose which axis/axes to calibrate.
3 The robot moves to synchronization position.
4 Validate the synchronization marks.
5 The robot moves to preparation position.
6 Remove the protection plug from the bushings, and install the calibration
tool.
7 The robot performs a measurement sequence by rotating the axis back and
forth.
8 Remove the calibration tool and reinstall the protection plugs in the bushings.
9 The robot moves to verify that the calibration tool is removed.
10 Choose whether to save the calibration data or not.
Action
DANGER
While conducting the calibration, the robot needs
to be connected to power.
Make sure that the robot's working area is empty,
as the robot can make unpredictable movements.
Wipe the calibration tool clean.
Note
The calibration method is exact. Dust, dirt or color
flakes will affect the calibration value.
Check if the standard calibration data for axes 4
or 5 are updated with wrist optimization.
This is shown in the calibration overview/summary
window on the FlexPendant.
Action
Tap the calibration icon and enter the calibration
main page.
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819.
Note
Use a clean cloth.
If the data is optimized, the calibra-
tion routine Wrist Optimization
must be re-run after standard calib-
ration.
See Calibrating with Wrist Optimiza-
tion method on page
Note
Continues on next page
5 Calibration
Continued
Routines in the
834.
827