ABB IRB 1400, Product Manual

Page: 114 / 198

5 Calibration, M2000
5.3.2 Calibration, axis 2
112 3HAC021111-001 Revision: B
5.3.2 Calibration, axis 2
General
This section details how to perform the actual fine calibration of axis 2 using the Wyler cali-
bration equipment.
Required
equipment
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!
Procedure
Equipment Art. no. Note
Levelmeter 2000 cali-
bration kit with one sen-
sor 6369 901-347 Includes one sensor.
Sensor plate 3HAC 0392-1 One sensor plate is required for each sensor!
Angle bracket 6808 0011-LP For calibration sensor on manipulator lower arm.
Isopropanol 1177 1012-108 For cleaning the attachment points.
Other tools and proce-
dures may be required.
See references to these
procedures in the step-
by-step instructions
below. These procedures include references to the tools
required.
Step Action Illustration
1. Reset the levelmeter and the sensor for cal-
ibration of axis 2. Detailed in section Resetting of Level-
meter 2000 and sensor on page 124.
2. Clean the calibration surface with isopro-
panol. Art. no. is specified in Required equip-
ment on page 112!
3. Fit the angle bracket on the lower arm.
Adjust the angle of the bracket to make it
level.
Art. no. is specified in Required equip-
ment on page 112!
4. Fit the calibration sensor together with the
sensor plate on the angle bracket on axis 2.
Carefully tighten the securing screws with
approximately same tightening torque that
used at the reference plane!
Shown in section Positions and direc-
tions of sensor on page 106!