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3.3.3. Defining reference values for calibration of axes 2-6

3HAC 16578-1 Revision: E76

6. Prepare and clean the reference

surfaces to be used.

Clean with isopropanol.

Reference surfaces for bending backward

robots (IRB 1600, 6600, 6650, 6650S, 7600):

xx0500002470

Reference surfaces for parallel rod robots

(IRB 140, 1400, 2400, 260, 4400, 4450S,

660):

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A. Reference surface at the tool.

Preparation is detailed in section

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B. Reference surface at base.

C. Reference surface of axis 2.

7. Run the service routine CalPendulum

from the FlexPendant and choose

Reference Calibration. If there are no

reference values set for the robot, the

program senses it and requires to

define these.

:DUQLQJ The robot will automatically

move to the calibration position,

keeping the manually set axis 1 position

and setting axes 2-6 to zero.

The program will guide the operator through

the complete procedure, giving information of

each step to perform. Follow the steps in the

program carefully.

How to run a service routine from the

FlexPendant is detailed in the 2SHUDWLQJ

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ABB S4Cplus Instruction

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