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Robot Calibration
Disassembly/Assembly
Guidelines
IRB 6400
Precision Resolver Calibration Procedure (Cont)
Figure 3 - Movement Directions for Calibration, Reference Surface
13. Press the enabling device and operate the joystick
manually in the directions in Figure 3 until the digital
leveling gauge indicates zero. The gauge should
read 0±12 increments (0.3 mm/m).
The reason the calibration position is always
adjusted in the directions shown in Figure 3 is that
friction and gravity forces work together against the
direction of movement. This simplifies adjustment.
14. Turn the reference sensor and move the other
sensor. Continue the calibration procedure for the
other axes.
15. When all axes have been adjusted, the resolver
values are stored by executing commands listed
(following steps 16 through 25) on the teach pendant.
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