ABB IRB 120 Product Manual page 181

Calibration of axes 5 and 6 using the calibration tool
Use this procedure when calibrating axes 5 and 6 separately.
3HAC035728-001 Revision: B
Action
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2. Fit the calibration tool on the wrist with its
attachment screws.
3. Release the brakes.
4. Rotate axes 5 and 6 manually until the
calibration pin on the wrist and the fork of the
tool 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 axes 5 and 6
shall now be matched.
5 Calibration
5.2. Calibrating axes 1 - 6
Info
xx1000000005
Parts:
• A: Attachment screws (4 pcs)
• B: Calibration tool
See section:
• Manually releasing the brakes
on page 55
See figure 5-6 in:
• Location of calibration pins on
page 174
See section:
• Synchronization marks axes 1-
6 on page 180
Continued
179