ABB OmniCore IRB 6740, Product Manual, Page: 620 / 664

These axes are marked with Unrestricted in the FlexPendant window. Also the
following table shows the dependencies between the axes.
Requirements for axis positioning during calibration
Axis to calibrate
Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 Required
position of
axis
* * * * * - Axis 1
* * * 0 - 0 Axis 2
* * * - 0 0 Axis 3
* * - * * * Axis 4
* - * * * * Axis 5
- * * * * * Axis 6
Axis to be calibrated -
Unrestricted. Axis is allowed to be jogged to other position than 0 degrees. *
Axis must be put in position 0 degrees. 0
System containing SafeMove
SafeMove will lose its synchronization to the controller if a new calibration is done.
New calibration values have to be downloaded to SafeMove, and a new SafeMove
calibration has to be done. Make sure that the user rights admit to change the
safety settings and to synchronize SafeMove.
620 Product manual - IRB 6740
3HAC085701-001 Revision: A
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6 Calibration
6.4.1 Description of Axis Calibration
Continued