ABB IRB 5720 Product Manual page 567

These axes are marked with Unrestricted in the FlexPendant window. Also the
following table shows the dependencies between the axes.
Requirements for axis positioning during calibration
Required
position of
axis
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
-
*
0
System containing SafeMove
SafeMove will lose its synchronization to the controller if a new calibration is done.
New calibration values have to be downloaded to SafeMove, and a new SafeMove
calibration has to be done. Make sure that the user rights admit to change the
safety settings and to synchronize SafeMove.
How to calibrate an inverted robot
The IRB 5720 is calibrated inverted in factory, prior to shipping. To recalibrate an
inverted robot, use either fine calibration or reference calibration routine.
Product manual - IRB 5720
3HAC079195-001 Revision: A
Axis to calibrate
Axis 1 Axis 2
- *
0 -
0 0
* *
* *
* *
Axis to be calibrated
Unrestricted. Axis is allowed to be jogged to other position than 0 degrees.
Axis must be put in position 0 degrees.
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6.4.1 Description of Axis Calibration
Axis 3 Axis 4
* *
0 *
- *
* -
* *
* *
6 Calibration
Continued
Axis 5 Axis 6
* *
* *
* *
* *
- *
* -
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