ABB IRB 930 Product Manual page 579

The axis-4 calibration is done by rotating the ball screw spline unit so that the
opening gap on the lower mechanical stopper or the ball screw origin point is
aligned with the notch on the outer arm cover.
Required consumables
Equipment
Cleaning agent
Calibrating axis 3 and axis 4
Moving the robot to calibration position
1
2
3
4
Product manual - IRB 930
3HAC086009-001 Revision: A
Action
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot working
area.
Remove the fitted extra equipment on the robot
if it may cause a collision to the arm when push
the ball screw to the calibration position.
Turn on the electric power to the robot.
DANGER
When releasing the holding brakes, the robot axes
may move very quickly and sometimes in unex-
pected ways!
Make sure the payload is disassembled or tooling
is properly supported; otherwise, fast downward
movements of axis 3 may cause severe hits.
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6.5.3 Calibrating axis 3 and axis 4
Art. no. Note
- Isopropanol
Note
6 Calibration
Continued
Continues on next page
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