ABB IRB 120 - Axis Calibration - Running the Calibration Procedure

5.4.2 Axis Calibration - Running the calibration procedure
Required tools
The calibration tools used for Axis Calibration are designed to meet requirements
for calibration performance and durability.
WARNING
Calibrating the robot with Axis Calibration requires special calibration tools from
ABB. Using other pins in the calibration holes may cause severe damage to the
robot and/or personnel.
NoteArticle numberEquipment, etc.
Includes:
• Calibration tool axes 5 and 6
• Attachment screws M5x12 qual-
ity Steel 8.8-A2F (4 pcs)
• Guide pin
3HAC037305-001Calibration tool set
Required consumables
NoteArticle numberConsumable
-Clean cloth
Spare parts
NoteArticle numberSpare part
N/A
Overview of the calibration procedure on the FlexPendant
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
Use the following list to learn about the calibration procedure before running the
RobotWare program on the FlexPendant. It gives you a brief overview of the
calibration procedure sequence.
After the calibration method has been called for on the FlexPendant, the following
sequence will be run.
1 Choose calibration routine. The routines are described in Routines in the
calibration procedure on page 235.
2 Choose which axis/axes to calibrate.
3 The robot moves to synchronization position.
4 Validate the synchronization marks.
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.
Axes 1, 2 and 3 are fitted with dampers that need to be removed.
Continues on next page
Product manual - IRB 120 237
3HAC035728-001 Revision: N
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5 Calibration
5.4.2 Axis Calibration - Running the calibration procedure