ABB IRB 1400 - Calibration Movement Directions for All Axes

6 Calibration information
6.0.4 Calibration movement directions for all axes
3HAC021111-001 Revision: B 135
6.0.4 Calibration movement directions for all axes
Overview 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.
Calibration
movement direc-
tions, 6 axes
NOTE!
The figure shows an IRB 7600, but the positive direction is the same for all 6-axis robots,
except the positive direction of axis 3 for IRB 6400R which is in the opposite direction!
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