5 Calibration, M2000
5.3.1 Calibration axis 1
3HAC021111-001 Revision: B 111
Calibration, axis 1 The procedure below details how to calibrate axis 1
NOTE!
Make sure the sensors and sensor positions on the manipulator are clean and free from metal-
lic materials!
Step Action Info/Illustration
1. Move the robot to its calibration position corre-
sponding to the calibration scales.
2. Remove the cover plate on the reference surface
on the base of the manipulator.
3. Clean the surface with etanol and deburr it.
4. Fit the calibration tool, axis 1 on the guide pin
underneath the gearbox.
5. Release the brakes and move the manipulator
manually so that the measuring pin can be
placed in the guide hole on the base.
6. Update axis 1 only , using the TPU. Described in Fine calibration
procedure on TPU on page 122.
7. Remove the calibration tool for axis 1.
8. Refit the cover plate to the reference surface on
the base of the manipulator, if no other calibration
is to be performed.
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