ABB IRB 140 - 3.6. Calibration, axis 1, IRB 6600; IRB 6650; IRB 6650 S; IRB 7600

3 Calibration
3.5. Calibration, axis 1, IRB 4400
3HAC 022907-001 Revision: -44
3.5. Calibration, axis 1, IRB 4400
General
This section details how to perform the mechanical calibration of axis 1 using special
calibration equipment without sensors.
Required equipment
Location of calibration tool, axis 1
The special calibration equipment is fitted to the base of the robot as shown in the figure
below.
xx0300000202
Equipment, etc. Art. no. Note
Isopropanol 1177 1012-208 Used to clean the reference surface.
Calibration tool 3HAB 1526-1
Measuring pin 6808 0011-GR
Guide bars 2 pcs
Used to align the measuring pin.
A Guide pin in gearbox
B Calibration tool
C Measuring pin