ABB IRB 365 Product Manual page 202

6 Calibration information
6.3 Calibration method
Continued
Tool calibration is measuring each contact point for axis 1-3 and modifies
cal_position. The tool calibration method gives a better nominal kinematics and
the modified cal_positions will help to get back to the same points when calibrating
with Standard calibration.
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Product manual - IRB 365
3HAC079185-001 Revision: A