ABB IRB 120 Product Manual page 178

5 Calibration
5.2. Calibrating axes 1 - 6
Continued
10. Rotate axes 1, 2 and 3 manually until the two
12. Choose axes 1, 2 and 3 on the FlexPendant
13. The synchronisation marks on each axis shall
Calibration of axis 1 separately
Use this procedure when calibrating axis 1 separately.
176
Action
4. Release the brakes.
5. Rotate axes 4, 5 and 6 manually until the two
calibration pins of each axis are in contact with
each other.
6. Choose fine calibration from Calib menu.
7. Choose Calibrate on the FlexPendant.
8. Choose axes 4, 5 and 6 on the FlexPendant
and Calibrate.
9. After calibration is done, use the FlexPendant
to jog each axis to zero degree.
calibration pins of each axis are in contact with
each other.
11. Choose fine calibration from Calib menu.
and Calibrate.
now be matched.§
Action
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2. Remove the dampers from the calibration pins. See the figure in:
3. Release the brakes.
4. Rotate axis 1 manually until the two calibration
pins are in contact with each other.
5. Choose fine calibration from Calib menu.
6. Choose Calibrate on the the FlexPendant.
7. Choose axis 1 on the FlexPendant and
Calibrate.
Note
How to release the brakes see
section:
• Manually releasing the brakes
on page 55
See the figure in:
• Location of calibration pins on
page 174
See the figure in:
• Location of calibration pins on
page 174
See section:
• Synchronization marks axes 1-
6 on page 180
Info
• Location of calibration pins on
page 174
See section:
• Manually releasing the brakes
on page 55
See figure in:
• Location of calibration pins on
page 174
Continues on next page
3HAC035728-001 Revision: B