ABB Levelmeter 2000 - Page 60

3 Calibration
3.11. Calibration, axis 4
3HAC 022907-001 Revision: -58
TIP!
Lock the axes previous to the one calibrated to minimize the risk of accidentally moving other
axes! In case of accidental movement of previous axes, the calibration procedure must be
restarted from the moved axis and continued in increasing sequence!
Calibration, axis 4
Step Action Note
1. Clean the turning disk with isopropanol . Art. no. is specified in Required
equipment on page 57 .
2. Fit the sync adapter (if required) to the turning
disk, using the guide pin.
Fit the turning disk fixture (incl. pin) to the turning
disk / sync adapter.
Art. no. for the adapter/ fixture
and dimension for the guide pin,
if used, are specified in Required
equipment on page 57.
3. Turn the tool clockwise against the pin at the
same time as the screws are tightened.
4. Run the program
\SYSTEM\UTILITY\SERVICE\CALIBRAT\CALxx
xx (xxxx=robot model, e.g. 7600) in the system
and select Calib: CAL4A.
The robot moves to the position for calibration of
axis 4.
5. Reset the levelmeter with correct orientation of
the sensor for calibration of axis 4.
Detailed in section Resetting of
Levelmeter 2000 and sensor on
page 69.
6. Fit the calibration sensor unit (sensor and plate)
on the turning disk fixture.
Carefully tighten the securing screws with
approximately the same tightening torque used at
the reference plane.
Shown in the section Positions
and directions of sensor on page
25!
7.
-
Tip!
Reduce the jogging velocity in order to easily
position the axis as close to zero as possible!
8. Manually run axis 4 with the joystick to the correct
position as indicated by the levelmeter.
Correct measurement on the
levelmeter:
IRB 140, IRB 6400R: 0 ± 0.40
mm/m
IRB 1400, IRB 2400, IRB 4400:
0 ± 0.80 mm/m
IRB 6600, IRB 6650, IRB 6650S,
IRB 7600: 0 ± 0.05 mm/m