ABB IRB 1400 - Repair Procedures; General Repair Information

3 Calibration
3.11. Calibration, axis 4
593HAC 022907-001 Revision: -
9. Update only axis 4. Detailed in sections:
Fine calibration procedure on
TPU on page 65 (RobotWare
4.0).
Fine calibration procedure on
FlexPendant on page 67
(RobotWare 5.0).
10. Remove the sensor.
11. Select Calib: CAL4B.
The axis 4 moves 90º, to a correct position.
12. Update only axis 4. Detailed in sections:
Fine calibration procedure on
TPU on page 65 (RobotWare
4.0).
Fine calibration procedure on
FlexPendant on page 67
(RobotWare 5.0).
13. Check the calibration according to section Post
calibration procedure on page 78 or continue with
calibration of next axis.
14. Refit the cover plate on the reference surface at
the base if no further calibration is performed.
Also, remove the sync adapter / turning disk
fixture if no further calibration is performed.
Step Action Note