ABB IRBP, Product Manual

Page: 277 / 334

Preparing the robot
Note Action
xx1800000747
Attach the pointer to the tip adapter on the robot.
The point of the pointer should be in exactly the
same position as the defined TCP, e.g. 15 mm
from the end of the nozzle. 1
Preparing the positioner discs
Note Action
xx1800000748
Activate the station, then jog the turning disc to
0°. 1
Centre punch and hammer.
xx1800000749
Make a small punch mark at the top dead centre
on the turning disc. 2
Centre punch and hammer.
xx1800000750
Valid for positioners that have a tailstock (IRBP
K, IRBP L, IRBP R):
Mark out the centre of the bearing disc spigot and
carefully make a small punch mark there. 3
Calibrating the base frame of robot 1
Use the procedure to calibrate the base frame of robot 1. The FlexPendant images
shown in the procedure can differ between the positioner variants.
Continues on next page
Product manual - IRBP /D2009 277
3HAC037731-001 Revision: T
© Copyright 2010-2020 ABB. All rights reserved.
8 Calibration information
8.7.2 Calibrating the multi-arc system
Continued