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6 Calibration
6.5.3 Calibrating axis 3 and axis 4
Continued
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6
7
Performing the fine calibration procedure
1
2
3
4
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Continues on next page
580
Action
Release the brakes and manually push axis 3
until the upper surface of the lower mechanical
stopper touches the lower surface of the ball
screw lower nut gently. There should be no
pressing force between them.
When doing this, pay attention to robot pose in
order to avoid arm collision.
Release the brakes and manually rotate axis 4
until the opening gap on the lower mechanical
stopper or the ball screw origin point is aligned
with the notch on the outer arm cover.
When doing this, pay attention to robot pose in
order to avoid arm collision.
When the axes are in position, release the brake
release button to activate the brakes again.
Action
On the start screen, tap Calibrate.
Select Calibration from the menu.
The Mechanical Units page displays a list of
available mechanical units.
Note
This step is required only if you are not already
in the Mechanical Unit page when you open Cal-
ibrate.
Note
The Mechanical Unit page is displayed only if
there are more than one mechanical unit available.
Otherwise, the calibration summary page for the
available mechanical unit is displayed.
Select the unit that needs to be calibrated from
the Mechanical Unit list.
The calibration summary for the selected mechan-
ical unit is displayed.
On the right pane tap Calibration Methods.
Tap Calibration Parameters.
The calibration parameters are displayed.
© Copyright 2023 ABB. All rights reserved.
Note
How to release the brakes is de-
tailed in
Manually releasing the
brakes on page
58.
3
3HAC074556-001
2
1
3HAC056252-002
xx2300000572
Note
Product manual - IRB 930
3HAC086009-001 Revision: A
4
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