ABB IRB 1400, Product Manual

Page: 122 / 198

5 Calibration, M2000
5.3.6 Calibration, axis 6
120 3HAC021111-001 Revision: B
5.3.6 Calibration, axis 6
General
This section details how to perform the actual fine calibration of axis 6 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. Info
Levelmeter 2000 calibra-
tion kit with one sensor 6369 901-347
Sensor plate 3HAC 0392-1 One sensor plate is required for each sensor.
Turning disk fixture 6808 0011-GU For fitting the calibration sensor plate to the
sync adapter.
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. Calibrate axis 5. Detailed in section Calibra-
tion, axis 5 on page 118.
2. Reset the levelmeter with correct orientation of the
sensor for calibration of axis 6. Detailed in section Resetting
of Levelmeter 2000 and sen-
sor on page 124.
3. Fit the calibration sensor unit (sensor and plate) on
the turning disk fixture.
Carefully tighten the securing screws with approxi-
mately same tightening torque that used at the ref-
erence plane.
Shown in section Positions
and directions of sensor on
page 106!
4. Manually run axis 6 in with the joystick to the correct
position as indicated by the levelmeter.
Tip!
Reduce the jogging velocity in order to easily posi-
tion the axis as close to zero as possible!
Correct measurement on the
levelmeter:
0 ±0.80 mm/m