ABB IRB 1010 Product Manual page 289

These axes are marked with Unrestricted in the FlexPendant window. Also the
following table shows the dependencies between the axes.
Requirements for axis positioning during calibration
Required
position of
axis
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
-
*
0
X
How to calibrate a suspended robot
The IRB 1010 is fine calibrated floor standing in factory, prior to shipping.
To calibrate a suspended robot, reference calibration must be used. Reference
values for a suspended robot must be created with the robot mounted at its working
position, not standing on a floor.
To calibrate a suspended robot with the fine calibration routine, the robot must
first be taken down and then be mounted standing on the floor.
Product manual - IRB 1010
3HAC081964-001 Revision: B
Axis to calibrate
Axis 1 Axis 2
- *
X -
* *
* *
* *
* *
Axis to be calibrated
Unrestricted. Axis is allowed to be jogged to other position than 0 degrees.
Axis must be put in position 0 degrees.
Special requirement
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6.4.1 Description of Axis Calibration
Axis 3 Axis 4
* *
* *
- *
* -
* *
* *
6 Calibration
Continued
Axis 5 Axis 6
* *
* *
* *
* *
- *
* -
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