ABB CRB 1100 Product Manual page 672

6 Calibration
6.4.4 Axis Calibration - Running the calibration procedure
Continued
Calibration of the robot is not finished until the calibration data is saved, as last
step of the calibration procedure.
Preparation prior to calibration
The calibration procedure is described in the FlexPendant while conducting it.
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Starting the calibration procedure
Use this procedure to start the Axis Calibration routine on the FlexPendant.
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5 The robot moves to preparation position.
6 Remove the protective cover from the fixed pin and the protection plug from
the bushing, if any, and install the calibration tool.
When calibrating axis 5, remove the protective cover from the fixed pin using
a tweezer, and install the calibration tool.
7 The robot performs a measurement sequence by rotating the axis back and
forth.
8 Remove the calibration tool and reinstall the protective cover on the fixed
pin and the protection plug in the bushing, if any.
After the calibration of axis 5, refit the protective cover on the fixed pin for
axis 5 using a tweezer.
9 The robot moves to verify that the calibration tool is removed.
10 Choose whether to save the calibration data or not.
Action
DANGER
While conducting the calibration, the robot needs
to be connected to power.
Make sure that the robot's working area is empty,
as the robot can make unpredictable movements.
Wipe the calibration tool clean.
Note
The calibration method is exact. Dust, dirt or color
flakes will affect the calibration value.
Check if the standard calibration data for axes 4,
5 or 6 are updated with wrist optimization.
This is shown in the calibration overview/summary
window on the FlexPendant.
Action
Tap the calibration icon and enter the calibration
main page.
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Note
Use a clean cloth.
If the data is optimized, the calibra-
tion routine Wrist Optimization
must be re-run after standard calib-
ration.
See Calibrating with Wrist Optimiza-
tion method on page 679.
Note
Product manual - CRB 1100
3HAC078007-001 Revision: J