ABB IRB 1400 - Directions for All Axes

5 Calibration, M2000
5.2.2 Directions for all axes
104 3HAC021111-001 Revision: B
5.2.2 Directions for all axes
Calibration
movement
directions
When calibrating, the axis must consistently be run towards the calibration position in the
same direction, in order to avoid position errors caused by backlash in gears etc. Positive
directions are shown in the figure below.
This is normally handled by the robot calibration software.
Note! The figure shows an IRB 7600, but the positive direction is the same for all robots!
xx0200000089
2+
4+6+
3+
1+
5
+