ABB Levelmeter 2000, Инструкция по эксплуатации, Страница: 43 / 82

3 Calibration
3.3. Calibration, axis 1, IRB 1400
41 3HAC 022907-001 Revision: -
Calibration, axis 1
The procedure below details how to perform the actual calibration of axis 1 using the
calibration equipment.
Step Action Note
1. Move the robot to its calibration position
corresponding to the calibration scales. Detailed in section Calibration
scales and correct axis position
on page 16.
2. Remove the cover plate from the reference surface
on the base of the robot.
Clean the surface with isopropanol and deburr it.
Art. no. is specified in Required
equipment on page 40.
3. Fit the calibration tool, axis 1 on the guide pin
underneath the gearbox. Art. no. is specified in Required
equipment on page 40.
Shown in the figure Location of
calibration tools, axis 1 on page
40.
4. Release the brakes and move the robot manually
so that the measuring pin can be placed in the
guide hole on the base. Art. no. is specified in Required
equipment on page 40.
5. Update only axis 1. Detailed in sections:
Fine calibration procedure on
TPU
on page 65 (RobotWare
4.0).
Fine calibration procedure on
FlexPendant
on page 67
(RobotWare 5.0).
6. Remove the calibration tool for axis 1.
7. Refit the cover plate to the reference surface on the
base of the robot, if no other calibration is to be
performed.