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ABB IRB 1400 - Page 119

ABB IRB 1400
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5 Calibration, M2000
5.3.4 Calibration, axis 4
3HAC021111-001 Revision: B 117
6. Fit the calibration sensor unit (sensor and plate) on
the turning disk fixture.
Carefully tighten the securing screws with approxi-
mately same tightening torque that used at the refer-
ence plane.
Shown in the section Posi-
tions and directions of sen-
sor on page 106!
7. Manually run axis 4 in with the joystick to the correct
position as indicated by the levelmeter.
Tip!
Reduce the jogging velocity in order to easily position
the axis as close to zero as possible!
Correct measurement on
the levelmeter:
0 ±0.80 mm/m
8. Update only axis 4. Detailed in section Fine cal-
ibration procedure on TPU
on page 122.
9. Remove the sensor.
10. Select Calib: CAL4B.
The axis 4 moves 90º, to a correct position.
11. Update only axis 4. Detailed in section Fine cal-
ibration procedure on TPU
on page 122.
12. Check the calibration according to section Post cali-
bration procedure on page 129 or continue with cali-
bration of next axis.
13. Refit the cover plate on the reference surface at the
base if no further calibration is performed.
Step Action Illustration

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