ABB IRB 6700I, Product Manual

Page: 689 / 730

5.4.4 Axis Calibration - Running the calibration procedure
Required tools
The calibration tools used for Axis Calibration are designed to meet requirements
for calibration performance, durability and safety in case of accidental damage.
WARNING
Calibrating the robot with Axis Calibration requires special calibration tools from
ABB. Using other pins in the calibration holes may cause severe damage to the
robot and/or personnel.
Note Article number Equipment, etc.
Delivered as a set of calibration tools. 3HAC055412-001 Calibration tool box, Axis
Calibration
Required consumables
Note Article number Consumable
- Clean cloth
Spare parts
Note Article number Spare part
Contains replacement calibration
pin covers and protective plugs
for the bushing. 3HAC056806-001 Protection cover and plug set
Overview of the calibration procedure on the FlexPendant
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
Use the following list to learn about the calibration procedure before running the
RobotWare program on the FlexPendant. It gives you a brief overview of the
calibration procedure sequence.
After the calibration method has been called for on the FlexPendant, the following
sequence will be run.
1 Choose calibration routine. The routines are described in Routines in the
calibration procedure on page 684 .
2 Choose which axis/axes to calibrate.
3 The robot moves to synchronization position.
4 Validate the synchronization marks.
5 The robot moves to preparation position.
6 Remove the protective cover from the fixed pin and the protection plug from
the bushing, if any, and install the calibration tool.
7 The robot performs a measurement sequence by rotating the axis back and
forth.
Continues on next page
Product manual - IRB 6700Inv 689
3HAC058254-001 Revision: L
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5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure