ABB IRB 1200 Product Manual page 856

5 Calibration
5.6.6 Manual calibration method - calibrating axis 4
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Action
Fit the conical screw to the calibration tool.
Fit the M5 screws.
Turn on the electric power to the robot.
DANGER
When releasing the holding brakes, the robot axes
may move very quickly and sometimes in unex-
pected ways!
Make sure no personnel is near or beneath the
robot arm!
Release the brakes and manually rotate axis 4
until the axis-4 calibration tool and the calibration
block touches each other gently. There should be
no pressing force between the pins.
When doing this, pay attention to robot pose in
order to avoid arm collision.
When the axis is in position, release the brake
release button to activate the brakes again.
© Copyright 2014 - 2021 ABB. All rights reserved.
Note
Conical screw M3 (3HAC055410-
001, 1 pcs)
Tightening torque: 1 Nm
xx1500001608
Screws: M5x20.
Tightening torque: 2.5 Nm
xx1400001117
How to release the brakes is de-
tailed in Manually releasing the
brakes on page 71.
xx1400001207
Product manual - IRB 1200
3HAC046983-001 Revision: S