ABB IRB 910INV Product Manual page 814

6 Calibration
6.5.3 Calibrating axis 3 and axis 4
Continued
6
7
8
Performing the fine calibration procedure
1
Continues on next page
814
Action
Release the brakes and manually push axis 3
until the upper surface of the lower mechanical
stopper touches the screws on the lower pulley
gently. There should be no pressing force
between them.
When doing this, pay attention to robot pose in
order to avoid arm collision.
Release the brakes (for IRB 910INV-6/0.55 only)
and manually rotate axis 4 until the opening gap
or the ball screw origin point on the lower mech-
anical stopper is aligned with the notch on the
outer arm cover.
When doing this, pay attention to robot pose in
order to avoid arm collision.
When the axes are in position, release the brake
release button to activate the brakes again.
Action
On the start screen, tap Calibrate.
© Copyright 2019-2022 ABB. All rights reserved.
Note
How to release the brakes is de-
tailed in Manually releasing the
brakes on page 63.
IP30
xx1900000148
IRB 910INV- IRB 910INV-
3/0.35 6/0.55
A 24.5 mm 21.7 mm
Clean Room/ IP54
F
a
4
a
F-F
xx1900001711
a The three
points need to
be aligned.
b Axis 2 rotate -
30° for IRB
910INV-3/0.35
Axis 2 rotate -
25° for IRB
910INV-6/0.55
Note
Product manual - IRB 910INV
3HAC068055-001 Revision: K
3
4
F
3
b