ABB IRB 120 - Page 244

NoteAction
Choose axes 4, 5 and 6 on the FlexPendant
and Calibrate.
8
After calibration is done, use the FlexPendant
to jog each axis to zero degree.
9
See the figure in:
• Location of calibration pins on
page 242
Rotate axes 1, 2 and 3 manually until the two
calibration pins of each axis are in contact with
each other.
10
Choose fine calibration from Calib menu.11
Choose axes 1, 2 and 3 on the FlexPendant
and Calibrate.
12
See section
• Synchronization marks and
synchronization position for
axes on page 228
The synchronisation marks on each axis shall
now be matched.
13
Choose Update Revolution counters from the
Calib menu.
14
Choose Axis 1 to 6 on the FlexPendant and
update the revoultion counters.
15
Calibration of axis 1 separately
Use this procedure when calibrating axis 1 separately.
InformationAction
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 the dampers from the calibration pins.2
See section
• Manually releasing the brakes
on page 66
Release the brakes.3
See figure in:
• Location of calibration pins on
page 242
Rotate axis 1 manually until the two calibration
pins are in contact with each other.
4
Choose fine calibration from Calib menu.5
Choose Calibrate on the the FlexPendant.6
Choose axis 1 on the FlexPendant and Calib-
rate.
7
After calibration is done use the FlexPendant
to jog each axis to zero degree.
8
See section
• Synchronization marks and
synchronization position for
axes on page 228
The synchronisation marks on axis 1 shall now
be matched.
9
Choose Update Revolution counters from the
Calib menu.
10
Continues on next page
244 Product manual - IRB 120
3HAC035728-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
5 Calibration
5.5 Calibrating with manual calibration method
Continued