ABB IRB 6620 - Page 321

To calibrate a suspended robot, reference calibration must be used. Reference
values for a suspended robot must be created with the robot mounted at its working
position, not standing on a floor.
To calibrate a suspended robot with the fine calibration routine, the robot must
first be taken down and then be mounted standing on the floor.
Product manual - IRB 6620 321
3HAC027151-001 Revision: T
© Copyright 2006-2018 ABB. All rights reserved.
5 Calibration
5.4.1 Description of Axis Calibration
Continued