ABB IRB 120 - Page 245

InformationAction
Choose Axis 1 on the FlexPendant and update
the revoultion counters.
11
Calibration of axis 2 separately
Use this procedure when calibrating axis 2 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 2 in:
• Location of calibration pins on
page 242
Rotate axis 2 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
After calibration is done use the FlexPendant
to jog each axis to zero degree.
7
See section
• Synchronization marks and
synchronization position for
axes on page 228
The synchronisation marks on axis 2 shall now
be matched
8
Choose Update Revolution counters from the
Calib menu.
9
Choose Axis 2 on the FlexPendant and update
the revoultion counters.
10
Calibration of axis 3 separately
Use this procedure when calibrating axis 3 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
Continues on next page
Product manual - IRB 120 245
3HAC035728-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
5 Calibration
5.5 Calibrating with manual calibration method
Continued