ABB CRB 1100 Product Manual page 665

Position of robot axes
The robot axes should be positioned close to 0 degrees before commencing the
calibration program. The axis chosen for calibration is then automatically run by
the calibration program to its exact calibration position during the calibration
procedure.
It is possible to position some of the other axes in positions different from 0 degrees.
Information about which axes are allowed to be jogged is given on the FlexPendant.
These axes are marked with Unrestricted in the FlexPendant window. Also the
following table shows the dependencies between the axes.
Requirements for axis positioning during calibration
Required
position of
axis
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
-
*
0
X
System containing SafeMove
SafeMove will lose its synchronization to the controller if a new calibration is done.
New calibration values have to be downloaded to SafeMove, and a new SafeMove
calibration has to be done. Make sure that the user rights admit to change the
safety settings and to synchronize SafeMove.
How to calibrate a suspended or wall mounted robot
The CRB 1100 is fine calibrated floor standing in factory, prior to shipping.
To calibrate a suspended or wall mounted robot, reference calibration could be
used. Reference values for a suspended or a wall mounted robot must be created
with the robot mounted at its working position, not standing on a floor.
To calibrate a suspended or wall mounted robot with the fine calibration routine,
the robot must first be taken down and mounted standing on the floor.
Product manual - CRB 1100
3HAC078007-001 Revision: J
Axis to calibrate
Axis 1 Axis 2
- *
0 -
0 0
* *
* *
* *
Axis to be calibrated
Unrestricted. Axis is allowed to be jogged to other position than 0 degrees.
Axis must be put in position 0 degrees.
Special requirement
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6.4.1 Description of Axis Calibration
Axis 3 Axis 4
* *
0 *
- *
* -
* *
* *
6 Calibration
Continued
Axis 5 Axis 6
* *
* *
* *
* *
- X
* -
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