ABB IRB 120 - Page 243

Calibration pin, axis 5-6E
Calibration tool, axis 5-6F
Required equipment
NoteEquipment
The content is defined in the section Standard
toolkit on page 260.
Standard toolkit
3HAC037305-001Calibration tool set
Includes:
• Calibration tool axes 5 and 6
• Attachment screws M5x12 quality Steel
8.8-A2F (4 pcs)
• Guide pin
Calibration using the FlexPendant
This procedure describes how to calibrate the robot using the FlexPendant.
NoteAction
DANGER
Turn off all electric power, hydraulic and pneu-
matic pressure supplies to the robot!
1
See the figure in:
• Location of calibration pins on
page 242
Remove all dampers from the calibration pins.2
B
C
A
xx1000000005
Fit the calibration tool on axis 6.3
Parts:
• A: Attachment screws (4 pcs)
• B: Calibration tool
• C: Guide pin
How to release the brakes see section:
• Manually releasing the brakes
on page 66
Release the brakes.4
See the figure in:
• Location of calibration pins on
page 242
Rotate axes 4, 5 and 6 manually until the two
calibration pins of each axis are in contact with
each other.
5
Choose fine calibration from Calib menu.6
Choose Calibrate on the FlexPendant.7
Continues on next page
Product manual - IRB 120 243
3HAC035728-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
5 Calibration
5.5 Calibrating with manual calibration method
Continued