10 Calibration
10.2.3 Calibration procedure on TPU
3HAC 16245-1 A 185
10.2.3 Calibration procedure on TPU
General This section details how to use the Teach Pendant Unit (TPU) when calibrating the robot
using the calibration pendulum method.
Procedure
Step Action Illustration
1. Press the "Program" button on the TPU.
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2. Select "Special", and then "Call service rou-
tine".
3. Start the program: "Calpendulum.rutin".
4. Select the required calibration procedure by
pressing "START".
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5. Enter the value for your choice of which robot
axes to calibrate.
Press OK .
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Default value: All axes
In this example, axis 1 was
selected.
6. Press "0" to acknowledge the selection made.
Press OK .
7. Proceed to calibrate the individual robot axes. Detailed in the calibration instruc-
tions for the robot axes.
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