ABB IRB 120 - Calibrating with manual calibration method

5.5 Calibrating with manual calibration method
Introduction
This section describes how to calibrate the robot manually and how to use the
calibration pins when calibrating.
Note
Calibration can be done in the following ways:
• axis 1, 2 and 3 at the same time using the FlexPendant
• axis 4, 5 and 6 at the same time using the FlexPendant
• each axis separately.
Location of calibration pins
The figure shows the position of the calibration pins on axes 1 - 6.
A
B
1 2
3
4
5-6
C
D
E
F
xx0900000627
Calibration, axis 1. (Rotate axis 1 -170.2°)1
Calibration pins, axis 1A
Calibration, axis 2. (Rotate axis 2 -115.1°)2
Calibration pins, axis 2B
Calibration, axis 3. (Rotate axis 3 75.8°)3
Calibration pins, axis 3C
Calibration, axis 4. (Rotate axis 4 -174.7°)4
Calibration pins, axis 4D
Calibration, axis 5-6. (Rotate axis 5 -90° and axis 6 90°)5-6
Continues on next page
242 Product manual - IRB 120
3HAC035728-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
5 Calibration
5.5 Calibrating with manual calibration method