ABB S4Cplus, Instruction, Page: 52 / 86

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3.2.5. Calibration sensor mounting positions, CalPend
3HAC 16578-1 Revision: E 50
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The illustrations below show the mounting positions and directions for both the reference
sensor and axis sensors on the robot. Notice that the pendulum is only fitted in one position
at a time (the same pendulum is used as both a reference and a calibration sensor).
Reference position IRB 1400
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Axis 1 IRB 1400
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A Calibration pendulum in reference sensor position
A Calibration sensor, axis 1
B Locating pin
C Calibration pendulum attachment screw
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