ABB IRB 120 - Calibration Movement Directions for All Axes

5.2.2 Calibration movement directions for all axes
Overview
When calibrating, the axis must consistently be run towards the calibration position
in the same direction in order to avoid position errors caused by backlash in gears
and so on. Positive directions are shown in the graphic below.
Calibration service routines will handle the calibration movements automatically
and these might be different from the positive directions shown below.
Manual movement directions
Axis 1
Axis 2
-
Axis 3
Axis 4
+
Axis 5
-
+
-
-
+
+
Axis 6
+
-
-
+
xx0900000262
230 Product manual - IRB 120
3HAC035728-001 Revision: N
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5 Calibration
5.2.2 Calibration movement directions for all axes