ABB Levelmeter 2000 - Page 49

3 Calibration
3.6. Calibration, axis 1, IRB 6600 / IRB 6650 / IRB 6650S / IRB 7600
473HAC 022907-001 Revision: -
Calibration, axis 1
The procedure below details how to mechanically calibrate axis 1.
Step Action Note
1. Switch the operating mode selector to MANUAL
MODE AT REDUCED SPEED.
2. Manually run the robot to the calibration position,
axis 1.
3. Remove the covers from the calibration tab at the
frame and the attachment point for the measuring
pin at the base.
4. Clean the surfaces with isopropanol and deburr
them.
Art. no. is specified in
Equipment on page 46.
5. Fit the calibration bracket to the calibration tab,
frame.
Shown in the figure Calibration
tool position on page 46.
6. Fit the measuring pin to the base of the robot. Shown in the figure Calibration
tool position on page 46.
7. Fit the calibration tool over the measuring pin and
the calibration bracket, according to the figure
Calibration tool position on page 46.
If the tool fits over the pin and the bracket
simultaneously, axis 1 is calibrated correctly.
If not, manually run axis 1 with the joystick until the
tool can be fiited over both the pin and the bracket!
8. Update only axis 1. Detailed in sections:
Fine calibration procedure on
TPU on page 65 (RobotWare
4.0).
Fine calibration procedure on
FlexPendant on page 67
(RobotWare 5.0).
9. Remove the calibration tools.
10. Refit the covers to the tab at the frame and the
attachment point in the base.