6.4.4 Axis Calibration - Running the calibration procedure
Required tools
The calibration tools used for Axis Calibration are designed to meet requirements
for calibration performance, durability and safety in case of accidental damage.
WARNING
Calibrating the robot with Axis Calibration requires special calibration tools from
ABB. Using other pins in the calibration holes may cause severe damage to the
robot and/or personnel.
NoteArticle numberEquipment, etc.
Delivered as a set of calibration tools.
Required if Axis Calibration is the valid
calibration method for the robot.
3HAC055412-001Calibration toolbox, Axis Cal-
ibration
Required consumables
NoteArticle numberConsumable
-Clean cloth
Spare parts
NoteArticle numberSpare part
Replace if damaged or missing.3HAC054431-005Protective plug for bushing
Overview of the calibration procedure on the FlexPendant
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
Use the following list to learn about the calibration procedure before running the
RobotWare program on the FlexPendant. It gives you a brief overview of the
calibration procedure.
After the calibration method has been started on the FlexPendant, the following
sequence will be run.
1 Choose calibration routine. The routines are described in Routines in the
calibration procedure on page 957.
2 Choose which axis/axes to calibrate.
3 The robot moves to synchronization position.
4 Validate the synchronization marks.
5 The robot moves to preparation position.
6 Remove the protective cover from the fixed pin and the protection plug from
the bushing, if any, and install the calibration tool.
7 The robot performs a measurement sequence by rotating the axis back and
forth.
Continues on next page
962 Product manual - IRB 920
3HAC075721-001 Revision: C
© Copyright 2022 ABB. All rights reserved.
6 Calibration
6.4.4 Axis Calibration - Running the calibration procedure
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