ABB IRB 120 Product Manual page 180

5 Calibration
5.2. Calibrating axes 1 - 6
Continued
Calibration of axis 4 separately
Use this procedure when calibrating axis 4 separately.
178
Action
3. Release the brakes.
4. Rotate axis 3 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 3 shall now
be matched.
Action
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2. Release the brakes.
3. Rotate axis 4 manually until the two calibration
pins are in contact with each other.
4. Choose fine calibration from Calib menu.
5. Choose Calibrate on the the FlexPendant.
6. After calibration is done use the FlexPendant to
jog each axis to zero degree
7. The synchronisation marks on axis 4 shall now
be matched.
Info
See section:
• Manually releasing the brakes
on page 55
See figure 3 in:
• Location of calibration pins on
page 174
See section:
• Synchronization marks axes 1-
6 on page 180
Info
See section:
• Manually releasing the brakes
on page 55
See the figure 4 in:
• Location of calibration pins on
page 174
See section:
• Synchronization marks axes 1-
6 on page 180
Continues on next page
3HAC035728-001 Revision: B