ABB IRB 120 Product Manual page 177

3
C
4
D
5-6
E
F
Required equipment
Equipment
Standard toolkit
Calibration tool kit.
Calibration using the FlexPendant
This procedure describes how to calibrate the robot using the FlexPendant.
3HAC035728-001 Revision: B
Calibration, axis 3. (Rotate axis 3 75.8°)
Calibration pins, axis 3
Calibration, axis 4. (Rotate axis 4 -174.7°)
Calibration pins, axis 4
Calibration, axis 5-6. (Rotate axis 5 -90° and axis 6 90°)
Calibration pin, axis 5-6
Calibration tool, axis 5-6
Action
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2. Remove all dampers from the calibration pins. See the figure in:
3. Fit the calibration tool on axis 6.
5.2. Calibrating axes 1 - 6
Note
The content is defined in the section
toolkit on page 191.
For art. no. see chapter Reference information.
Note
• Location of calibration pins on
page 174
xx10000000005
Parts:
• A: Attachment screws (4 pcs)
• B: Calibration tool
Continues on next page
5 Calibration
Continued
Standard
175