ABB IRB 6600 - 175/2.55 User Manual page 398

10 Calibration
10.3.3 Calibration, all axes
Step
196
Action
7. Connect the measurement cable from the cal-
ibration sensor to the Levelmeter 2000 unit.
8. Start the calibration program from the TPU,
and follow the instructions given, incl. fitting
the calibration sensor when requested.
NOTE! After fitting the sensor on the manipu-
lator as specified on the TPU, clicking OK
will start manipulator movement !
Make sure no personnel is within the working
range of the robot!
9. Click OK .
A number of menus will flash by briefly on the
TPU, but no action is required on behalf of the
operator until a specific action is displayed.
10. Confirm the position of all calibrated axes
when the calibration has been performed sat-
isfactorily.
11. Disconnect all calibration equipment and refit
all protective covers.
A
Illustration
-
0 0 0 0 0 0 0 0 0 0 0 0
+
° oo A° o o mRAD mm/m DEG
Port/Sensor "1/12" "1/10"
GON "/REL" mm/REL
A
5 0
B AT T
L E V E L M E T E R 2 0 0 0
+
O N / M O D E
Z E R O S E L E C T
-
E N T E R
S E N D /E S C
H O L D
W Y L E R
A B O U T
C C D
xx0200000126
• A: Connect sensor A here
• B: Connect sensor B here
• C: Connect SIO 1 in control-
ler here
• D: Measuring unit
• E: Selection pointer
The position where to fit the refer-
ence sensor and calibration sensor
respectively, are shown in Calibra-
tion sensor mounting positions on
page 188.
NOTE that no additional tool is
required for fitting the calibration
pendulum for axes 1-3!
Fitting the pendulum to the turning
disk requires an adapter (included in
the complete set). NOTE that there
are two adapters! Article number
specified in section General on page
195.
The way of handling the calibration
program prior to the actual calibra-
tion of each axis is detailed in Cali-
bration procedure on TPU on page
185.
Detailed in Post calibration proce-
dure on page 198.
3HAC 16245-1
A
B