ABB IRB 920 - Page 7

9456 Calibration
9456.1 Introduction to calibration ...................................................................................
9456.1.1 Introduction and calibration terminology ......................................................
9466.1.2 Calibration methods .................................................................................
9486.1.3 When to calibrate ...................................................................................
9496.2 Synchronization marks and axis movement directions .............................................
9496.2.1 Synchronization marks and synchronization position for axes .........................
9516.2.2 Calibration movement directions for all axes ................................................
9526.3 Updating revolution counters ...............................................................................
9526.3.1 Updating revolution counters on OmniCore robots ........................................
9566.4 Calibrating with Axis Calibration method ...............................................................
9566.4.1 Description of Axis Calibration ..................................................................
9596.4.2 Calibration tools for Axis Calibration ...........................................................
9616.4.3 Installation locations for the calibration tools ...............................................
9626.4.4 Axis Calibration - Running the calibration procedure ......................................
9666.4.5 Reference calibration ...............................................................................
9686.5 Calibrating the robot ..........................................................................................
9686.5.1 Calibration position ..................................................................................
9696.5.2 Calibrating axis 1 and axis 2 ......................................................................
9706.5.3 Calibrating axis 3 and axis 4 ......................................................................
9756.6 Verifying the calibration ......................................................................................
9766.7 Checking the synchronization position ..................................................................
9777 Troubleshooting
9777.1 Introduction to troubleshooting ............................................................................
9797.2 Oil and grease stains on motors and gearboxes ......................................................
9807.3 Mechanical noise or dissonance ..........................................................................
9827.4 Manipulator collapses on power down ...................................................................
9837.5 Motor temperature too high .................................................................................
9858 Decommissioning
9858.1 Introduction ......................................................................................................
9868.2 Environmental information ..................................................................................
9888.3 Scrapping of robot .............................................................................................
9899 Reference information
9899.1 Introduction ......................................................................................................
9909.2 Applicable standards .........................................................................................
9919.3 Unit conversion .................................................................................................
9929.4 Screw joints ....................................................................................................
9959.5 Weight specifications .........................................................................................
9969.6 Standard toolkit ................................................................................................
9979.7 Special tools ....................................................................................................
9999.8 Lifting accessories and lifting instructions ..............................................................
100110 Spare parts
100110.1 Spare part lists and illustrations ...........................................................................
1003Index
Product manual - IRB 920 7
3HAC075721-001 Revision: C
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