ABB IRB 6650S Product Manual page 393

Product manual - IRB 6650S
3HAC020993-001 Revision: AG
5 The robot moves to the optimized positions for the wrist axes and
automatically overwrites previous calibration data.
WARNING
Robot moves automatically when pressing Calibrate.
6 Wrist optimization is finished.
7 Redefine / verify TCP for all tools.
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5.6 Calibrating with Wrist Optimization method
5 Calibration
Continued
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