ABB IRB 120 - Page 247

Calibration of axes 5 and 6 using the calibration tool
Use this procedure when calibrating axes 5 and 6 separately.
InformationAction
DANGER
Turn off all electric power, hydraulic and pneu-
matic pressure supplies to the robot!
1
B
C
A
xx1000000005
Fit the calibration tool on the wrist with its at-
tachment screws.
2
Parts:
• A: Attachment screws (4 pcs)
• B: Calibration tool
• C: Guide pin
See section
• Manually releasing the brakes
on page 66
Release the brakes.3
See figure 5-6 in:
• Location of calibration pins on
page 242
Rotate axes 5 and 6 manually until the calibra-
tion pin on the wrist and the fork of the tool 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 axes 5 and 6
shall now be matched.
8
Choose Update Revolution counters from the
Calib menu.
9
Choose Axis 5 to 6 on the FlexPendant and
update the revoultion counters.
10
Product manual - IRB 120 247
3HAC035728-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
5 Calibration
5.5 Calibrating with manual calibration method
Continued