ABB IRB 920 Product Manual page 973

6
7
8
9
Checking and finalizing the calibration
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2
3
Product manual - IRB 920
3HAC075721-001 Revision: C
Action
Tap Fine Calibration.
A dialog box is displayed, urging you to use ex-
ternal equipment to perform the actual calibration.
Make sure all necessary calibration equipment is
fitted for the axis to be calibrated.
A warning that performing fine calibration can
change programmed robot positions is also dis-
played:
• Tap Yes to proceed.
• Tap No to cancel.
Select the check-box for the current axis/axes to
be calibrated.
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.
Tap OK.
The fine calibration process is complete.
Action
DANGER
Always remember to remove the calibration tools
from the robot before jogging axes to zero position
during calibration.
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 axes 3 and 4 to zero degree using the Flex-
Pendant.
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6 Calibration
6.5.3 Calibrating axis 3 and axis 4
Note
Note
Continues on next page
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