ABB IRB 1200 Product Manual page 861

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Product manual - IRB 1200
3HAC046983-001 Revision: S
5.6.7 Manual calibration method - calibrating axis 5 and axis 6
Action
Fit the calibration block to the tubular.
Fit the guide pin to the disk and then fit the calib-
ration tool of axes 5 and 6.
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 axes 5
and 6 until the axis-5/6 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.
5 Calibration
Continued
Note
Screws: M4x16.
xx1400001114
Screws: M5x16.
xx1400001115
How to release the brakes is de-
tailed in Manually releasing the
brakes on page 71.
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Continues on next page
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