ABB S4Cplus, Instruction, Page: 67 / 86

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3.2.7. Calibration Pendulum II procedure on TPU, S4Cplus
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3-2007 ABB.
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This section details how to use the Teach Pendant Unit (TPU) when calibrating the robot
using the Calibration Pendulum II (CalPend).
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The procedure below details how to perform the CalPend routine on the TPU.
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1. Press the "Program"
button on the TPU.
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2. Select "Special", and
then "Call service
routine".
3. Start the program: "Cal-
pendulum.rutin".
4. Select the required
calibration procedure
and press "START".
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