ABB S4Cplus, Instruction, Page: 66 / 86

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3.2.6. Preparation for using sensor on axes 1 and 6, CalPend
3HAC 16578-1 Revision: E 64
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The procedure below details the preparation of the calibration pendulum before calibration of
axis 1 on all robots and axis 1 and 6 on IRB 260 and IRB 660.
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1. Compress the spring by moving
the inner hand wheel (axial
movement)
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2. Rotate the inner hand wheel
clockwise on the shaft to lock the
spring in compressed position.
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3. After calibration of axis 1 (or axis
6 on IRB 260 and IRB 660),
release the compressed spring.
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