ABB IRB 920, Product Manual

Page: 971 / 1008

Required equipment
Axes 3 and 4 are calibrated together.
The axis-3 calibration is done by moving the ball screw spline unit so that the upper
surface of the lower mechanical stopper and the lower surface of the ball screw
lower nut touch each other gently.
The axis-4 calibration is done by rotating the ball screw spline unit so that the
opening gap on the lower mechanical stopper or the ball screw origin point is
aligned with the notch on the outer arm cover.
Required consumables
Note Art. no. Equipment
Isopropanol - Cleaning agent
Calibrating axis 3 and axis 4
Moving the robot to calibration position
Note Action
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot working
area.
1
Remove the fitted extra equipment on the robot
if it may cause a collision to the arm when push
the ball screw to the calibration position. 2
Turn on the electric power to the robot. 3
DANGER
When releasing the holding brakes, the robot axes
may move very quickly and sometimes in unex-
pected ways!
Make sure the payload is disassembled or tooling
is properly supported; otherwise, fast downward
movements of axis 3 may cause severe hits.
4
Continues on next page
Product manual - IRB 920 971
3HAC075721-001 Revision: C
© Copyright 2022 ABB. All rights reserved.
6 Calibration
6.5.3 Calibrating axis 3 and axis 4
Continued