ABB Levelmeter 2000, Инструкция по эксплуатации

Страница: 45 / 82

3 Calibration
3.4. Calibration axis 1, IRB 2400
43 3HAC 022907-001 Revision: -
Calibration, axis 1
The procedure below details how to calibrate axis 1.
NOTE!
Make sure the sensors and sensor positions on the manipulator are clean and free from
metallic materials!
Step Action Note
1. Move the robot to its calibration position
corresponding to the calibration scales.
2. Remove the cover plate on the reference surface on
the base of the robot.
3. Clean the surface with ethanol and deburr it.
4. Fit the calibration tool on the guide pin underneath the
gearbox. Art. no. is specified in
Required equipment on
page 42.
5. Release the brakes and move the robot manually so
that the calibration tool can be fixed to the base with
the screw.
Do not tighten the screw, the tool must be movable in
next step!
6. Move the robot so that the pin in the tool can be
located in the guide hole in the base.
7. Update axis 1 only. Described in sections:
Fine calibration procedure
on TPU
on page 65
(RobotWare 4.0).
Fine calibration procedure
on FlexPendant
on page 67
(RobotWare 5.0).
8. Remove the calibration tool for axis 1.
9. Refit the cover plate to the reference surface on the
base of the robot, if no other calibration is to be
performed.