ABB IRB 140 - 3.2. Calibration, axis 1, IRB 140

2 Reference information
2.7. Positions and directions of sensor
3HAC 022907-001 Revision: -36
Sensor position and direction, IRB 6400R
This section specifies the position and alignment of the calibration sensor at the reference
plane and on each axis of IRB 6400R.
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A Reference plane
B Direction for sensor at reference plane, axes 2, 3 and 5
C Direction for sensor at reference plane, axes 4 and 6
D Axis 2 sensor
E Axis 3 sensor
F Axis 4 sensor
G Axis 5 sensor
H Axis 6 sensor