ABB IRB 120 Product Manual page 179

Calibration of axis 2 separately
Use this procedure when calibrating axis 2 separately.
Calibration of axis 3 separately
Use this procedure when calibrating axis 3 separately.
3HAC035728-001 Revision: B
Action
8. After calibration is done use the FlexPendant to
jog each axis to zero degree.
9. The synchronisation marks on axis 1 shall 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 2 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. After calibration is done use the FlexPendant to
jog each axis to zero degree.
8. The synchronisation marks on axis 2 shall 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:
5 Calibration
5.2. Calibrating axes 1 - 6
Info
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 2 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
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