ABB IRB 6600 - 175/2.55 User Manual page 378

10 Calibration
10.1.2 How to calibrate the robot system
10.1.2 How to calibrate the robot system
General
This section provides an overview of the procedure required when calibrating the robot sys-
tem. Many of the steps in the procedure are detailed in other sections to which references are
given.
Procedure
Step
176
Action
1. Install the robot.
2. Check that all required hardware is avail-
able for calibrating the robot.
3. Connect the calibration equipment to the
robot controller and initialize it.
4. Manually, run the robot axes to be cali-
brated to a position close to the correct cal-
ibration position.
5. Start the calibration program.
6. Calibrate each axis or several axes in a
sequence.
7. Verify that the calibration was successfully
carried out.
A
Illustration
Detailed in the "Installation Manual".
Required hardware is specified in the
calibrating procedures for each axis.
Specified in Initialization of calibration
pendulum on page 186.
Use the calibration scales fitted to each
robot axis to locate this position.
Detailed in Calibration procedure on
TPU on page 185.
Detailed in each axis' calibration
instruction.
Detailed in Post calibration procedure
on page 198.
3HAC 16245-1