ABB IRB 1200 Product Manual page 863

6
Checking and finalizing the calibration
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2
3
4
5
After calibration
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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
Tap Calibrate.
A dialog box is displayed, warning that calibration
of the selected axes will be changed, which cannot
be undone:
• Tap Calibrate to proceed.
• Tap Cancel to cancel.
Tapping Calibrate results in briefly displaying a
dialog box, announcing that the calibration pro-
cess has started.
The axis is calibrated and the system returns to
the list of available mechanical units.
Action
Release the brakes and manually rotate the axis
to apart the calibration pins from each other. This
is done to avoid damage on the pins if incorrect
operation should occur during next step of jog-
ging.
Jog axis 5 and 6 to zero degree using the Flex-
Pendant.
Check that the synchronization marks on axis 5
and axis 6 are aligned with eachother.
Are they aligned within the tolerances?
• If yes, the calibration is verified OK.
• If no, redo the fine calibration procedure.
Remove the calibration block from the tubular.
Remove the calibration tool of axes 5 and 6 from
the disk.
Action
Write down the new system parameters on a new
label and stick on top of the calibration label on
the robot.
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5 Calibration
Continued
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