ABB IRB 930 - Calibrating Axis 3 and Axis 4

6.5.3 Calibrating axis 3 and axis 4
Calibration position
The figure shows the axes in calibration position. The axes 3 and 4 are calibrated
together.
3HAC056252-002
3HAC074556-001
4
3
1
2
xx2300000572
Required equipment
Axes 3 and 4 are calibrated together.
The axis-3 calibration is done by moving the ball screw spline unit so that the upper
surface of the lower mechanical stopper and the lower surface of the ball screw
lower nut touch each other gently.
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578 Product manual - IRB 930
3HAC086009-001 Revision: A
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6 Calibration
6.5.3 Calibrating axis 3 and axis 4