ABB IRB 640 - Page 90

Repairs Calibration
Product Manual IRB 640 47
Figure 11 Movement directions for calibration, reference surface.
Axis 6
Reference
Axis 2
Axis 3
Sync fixture axis 6,
see Figure 12.
Aligning the turning disc
View from
above
Axis 3
Inclination instrument
6807 081-D
Tilt housing