10 Calibration
10.1.2 How to calibrate the robot system
176 A 3HAC 16245-1
10.1.2 How to calibrate the robot system
General This section provides an overview of the procedure required when calibrating the robot sys-
tem. Many of the steps in the procedure are detailed in other sections to which references are
given.
Procedure
Step Action Illustration
1. Install the robot. Detailed in the "Installation Manual".
2. Check that all required hardware is avail-
able for calibrating the robot.
Required hardware is specified in the
calibrating procedures for each axis.
3. Connect the calibration equipment to the
robot controller and initialize it.
Specified in Initialization of calibration
pendulum on page 186.
4. Manually, run the robot axes to be cali-
brated to a position close to the correct cal-
ibration position.
Use the calibration scales fitted to each
robot axis to locate this position.
5. Start the calibration program. Detailed in Calibration procedure on
TPU on page 185.
6. Calibrate each axis or several axes in a
sequence.
Detailed in each axis’ calibration
instruction.
7. Verify that the calibration was successfully
carried out.
Detailed in Post calibration procedure
on page 198.
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