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

773HAC 16578-1 Revision: E

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The reference values are automatically stored on the controller, as a file named equally to the

serial number of the robot. The file is stored in the Home folder.

8. Make notes or take pictures that shows

following conditions under which the

reference values were taken:

• position and alignment of the

calibration pendulum housing at

the reference surface on the tool

(allowed to be fitted in one of

four directions, in steps of 90º)

• position of axis 1

• tools and/or dresspack mounted

on the robot.

The information is valuable at future

service occassions in order to get

highest accuracy possible from the

recalibration.

9. Remove the calibration tools from the

robot and refit the covers to the

reference surfaces.

10. Restore the robot for production.

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ABB S4Cplus Instruction

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