Calibration Movement Directions For All Axes - ABB IRB 920 Product Manual

6.2.2 Calibration movement directions for all axes

Overview
When calibrating, the axis must consistently be run towards the calibration position
in the same direction in order to avoid position errors caused by backlash in gears
and so on. Positive directions are shown in the graphic below.
Calibration service routines will handle the calibration movements automatically
and these might be different from the positive directions shown below.
Manual movement directions
xx2100000931
Product manual - IRB 920
3HAC075721-001 Revision: C
6.2.2 Calibration movement directions for all axes
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6 Calibration
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