ABB IRB 1400 - Calibration, Axis 4

5 Calibration, M2000
5.3.4 Calibration, axis 4
116 3HAC021111-001 Revision: B
5.3.4 Calibration, axis 4
General This section details how to perform the actual fine calibration of axis 4 using the Wyler cali-
bration equipment.
Required
equipment
TIP!
Lock the axes previous to the one calibrated to minimize the risk of accidentally moving other
axes! In case of accidental movement of previous axes, the calibration procedure must be
restarted from the moved axis and continued in increasing sequence!
Procedure
Equipment Art. no. Info
Levelmeter 2000 calibra-
tion kit with one sensor
6369 901-347 Includes one sensor.
Sensor plate 3HAC 0392-1 One sensor plate is required for each sensor.
Turning disk fixture 6808 0011-GU For fitting the calibration sensor plate to the
sync adapter.
Isopropanol 1177 1012-108 For cleaning the attachment points.
Other tools and proce-
dures may be required.
See references to these
procedures in the step-
by-step instructions
below.
These procedures include references to the
tools required.
Step Action Illustration
1. Clean the manipulator turning disk with isopropanol . Art. no. is specified in
Required equipment on
page 116!
2. Fit the sync adapter to the turning disk.
Fit the turning disk fixture (incl. pin) on the turning
disk.
Art. no. is specified in
Required equipment on
page 116!
3. Turn the tool clockwise against the pin at the same
time as the screws are tightened.
4. Run the program \SYSTEM\UTILITY\SERVICE\CAL-
IBRAT\CALxxxx (xxxx=robot model, e.g. 7600) in the
system and select Calib: CAL4A.
The robot moves to the position for calibration of axis
4.
5. Reset the levelmeter with correct orientation of the
sensor for calibration of axis 4.
Detailed in section Reset-
ting of Levelmeter 2000 and
sensor on page 124.