3 Calibration
3.13. Calibration, axis 6
3HAC 022907-001 Revision: -64
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 6
Step Action Note
1. Calibrate axis 5. Detailed in section Calibration,
axis 5 on page 60.
2. Reset the levelmeter with correct orientation of
the sensor for calibration of axis 6.
Detailed in section Resetting of
Levelmeter 2000 and sensor on
page 69.
3. 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 section Positions and
directions of sensor on page 25!
4.
-
Tip!
Reduce the jogging velocity in order to easily
position the axis as close to zero as possible!
5. Manually run axis 6 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
6. Update only axis 6. 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).
7. Remove the sensor and the sync adapter / turning
disk fixture.
8. Check the calibration according to section Post
calibration procedure on page 78.
9. Refit the cover plate on the reference surface at
the base.
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