ABB IRB 910INV Product Manual page 812

6 Calibration
6.5.3 Calibrating axis 3 and axis 4
Continued
Clean Room/ IP54
a
xx1900001711
a
b
Required equipment
Axes 3 and 4 are calibrated together.
The axis-3 calibration is done by moving the ball screw spline unit so that the upper
surface of the lower mechanical stopper and the screws on the lower pulley touch
each other gently.
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812
The three points need to be aligned.
Axis 2 rotate -30° for IRB 910INV-3/0.35
Axis 2 rotate -25° for IRB 910INV-6/0.55
Note
For robots with protection class IP30
Do not mix up the calibration position with the synchronization position, which
two are close to each other. See
position for axes on page 775
4.
© Copyright 2019-2022 ABB. All rights reserved.
F
a
4
Synchronization marks and synchronization
for the synchronization position for axis 3 and axis
F
b
F-F
Product manual - IRB 910INV
3HAC068055-001 Revision: K
3