Calibrating Axes 1 - 6 - ABB IRB 120 Product Manual

5 Calibration

5.2. Calibrating axes 1 - 6

5.2. Calibrating axes 1 - 6
Introduction
This section describes how to calibrate the robot and how to use the calibration pins when
calibrating.
NOTE!
Only fine calibration can be done on the robot.
NOTE!
Calibration can be done in the following ways:
Location of calibration pins
The figure shows the position of the calibration pins on axes 1 - 6.
xx0900000627
1
A
2
B
174
• axis 1, 2 and 3 at the same time using the FlexPendant
•
axis 4, 5 and 6 at the same time using the FlexPendant
• each axis separately.
Calibration, axis 1. (Rotate axis 1 -170.2°)
Calibration pins, axis 1
Calibration, axis 2. (Rotate axis 2 -115.1°)
Calibration pins, axis 2
Continues on next page
3HAC035728-001 Revision: B