ABB IRBP, Product Manual

Page: 278 / 334

Base frame calibration can be done with any robot, but only on one of the robots.
Note
If robot 1 ( ROB_1 ) is selected, you cannot do the base frame calibration between
robot 2 ( ROB_2 ) and positioner.
Note Action
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On the FlexPendant, select Calibration . 1
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Select Mechanical Unit STN1 . 2
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Select Base Frame and then select which
points to calibrate.
The number of axes and points to calibrate
differ depending on positioner variant.
IRBP A, IRBP B, IRBP D:
4 points for Axis 1
or 4 points for Axis 2 . (Both axes need to be
calibrated. Choose axis 1 first and run the
complete procedure according to the following
steps. When done, repeat the procedure for
axis 2, keeping axis 1 at 0° meanwhile.)
IRBP K, IRBP L, IRBP R:
4 points Z
3
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Select the robot you will use to measure the
base frame.
Note
If robot 1 ( ROB_1 ) is selected you cannot do
the base frame calibration between robot 2 and
positioner.
4
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278 Product manual - IRBP /D2009
3HAC037731-001 Revision: T
© Copyright 2010-2020 ABB. All rights reserved.
8 Calibration information
8.7.2 Calibrating the multi-arc system
Continued