ABB IRB 1200, Product Manual

Page: 820 / 906

These axes are marked with Unrestricted in the FlexPendant window. Also the
following table shows the dependencies between the axes.
Requirements for axis positioning during calibration
Axis to calibrate
Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 Required
position of
axis
* * * * * - Axis 1
* * * 0 - 0 Axis 2
* * * - 0 0 Axis 3
* * - * * * Axis 4
X - * * * * Axis 5
- * * * * * Axis 6
Axis to be calibrated -
Unrestricted. Axis is allowed to be jogged to other position than 0 degrees. *
Axis must be put in position 0 degrees. 0
Special requirement X
System containing SafeMove
SafeMove will lose its synchronization to the controller if a new calibration is done.
New calibration values have to be downloaded to SafeMove, and a new SafeMove
calibration has to be done. Make sure that the user rights admit to change the
safety settings and to synchronize SafeMove.
For robots with EPS, the same applies as for SafeMove.
How to calibrate a suspended or wall mounted robot
The IRB 1200 is fine calibrated floor standing in factory, prior to shipping.
To calibrate a suspended or wall mounted robot, reference calibration could be
used. Reference values for a suspended or a wall mounted robot must be created
with the robot mounted at its working position, not standing on a floor.
To calibrate a suspended or wall mounted robot with the fine calibration routine,
the robot must first be taken down and mounted standing on the floor.
820 Product manual - IRB 1200
3HAC046983-001 Revision: S
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5 Calibration
5.4.1 Description of Axis Calibration
Continued