ABB IRB 1400, Product Manual

Page: 108 / 198

5 Calibration, M2000
5.2.4 Positions and directions of sensor
106 3HAC021111-001 Revision: B
5.2.4 Positions and directions of sensor
General
This section details the mounting positions and directions for the
• reference sensor
• calibration sensor
When calibrating an axis with only one sensor, the sensor must first be positioned at the base
of the manipulator in order to create reference values. This is further detailed in section Reset-
ting of Levelmeter 2000 and sensor on page 124. These reference values are then used to
calibrate the axes of the manipulator.
The reference sensor and the calibration sensor is consequently the same sensor used at dif-
ferent locations.
When using the sensor as a reference at the base, it is fitted to a sensor fixture together with
a sensor plate, as shown in the figure below. The sensor has different directions, depending
on which axis is calibrated. The directions are shown in the figure below.
Calibration and
reference sensor
position The sensor is positioned and aligned on the axes as shown in the figures below.
xx0400001019
A View from above Axis 2
B View from above Axis 6
C View from above Axis 5