ABB IRB 6650 - 125/3.2 - Page 397

10 Calibration
10.3.3 Calibration, all axes
3HAC 16245-1 A 195
10.3.3 Calibration, all axes
General This section is valid for all robot models using the calibration pendulum procedure except
IRB 6400R.
It details how to perform the actual fine calibration of each axis using special calibration
equipment. The position to fit calibration sensors differ between different models and differ-
ent axes.
Sensor mounting
positions
The position of the calibration sensors are shown in Calibration sensor mounting positions
on page 188.
Procedure
Equipment Article no. Note
Calibration pendulum,
complete set
3HAC 15716-1 Contains all hardware required for calibration of all
robot versions except IRB 6400R.
The contents are specified in Calibration pendu-
lum kit, contents on page 179.
Turning disk adapter 3HAC 16423-1 May be turned both ways to fit IRB 140, IRB 1400,
IRB 2400 and IRB 4400.
Included in the complete set.
Adapter, turning disk 3HAC 14034-1 Fits IRB 6600 and IRB 7600
Included in the complete set.
Isopropanol 1177 1012-208 For cleaning the sensor attachment points
Step Action Illustration
1. Run the robot manually to the calibration
position of the axis to be calibrated.
2. Make a rough calibration. Detailed in Updating the revolution
counter on page 183.
3. Turn the calibration equipment on, to allow it
to reach operating temperature and stabilize
for a couple of minutes.
4. Remove any protective covers from the refer-
ence sensor, calibration sensor and locating
pin attachment points.
The same calibration pendulum is used as a
"calibration sensor" and as a "reference sen-
sor" depending on its function at the time. In
the instruction below, the pendulum will be
called "calibration sensor" or reference sen-
sor" depending on the function.
5. Clean the reference sensor, calibration sen-
sor and locating pin attachment points with
isopropanol .
Art. no. specified in section General
on page 195.
6. Valid for axis 1 only!
Fit the locating pin to the manipulator base.
Make sure the attachment surface is clean
and free from any nicks and burrs.
Shown in Calibration sensor mount-
ing positions on page 188.