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1.4. Calibration scales and correct axis position
3HAC 16578-1 Revision: E 24
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3-2007 ABB.
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Axis 4 has no mechanical limitation! Cabling inside the manipulator may be damaged if axis
4 is oriented incorrectly when performing calibration of the robot!
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The figure below shows the calibration marks of the axes 4-5-6 and the correct position of the
spiral cable. The orientation of axis 4 must be specially checked and corrected, if necessary,
before performing any calibration!
The figure also shows the calibration distance on the axes 1-2-3.
If the position of any axis needs to be changed, this is described in the procedures below.
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A Axis 4 (center tube)
B Spiral cable inspection cover
C Correct orientation of the spiral cable (and axis 4)
D Index marks for axis 4
E Index marks for axis 5
F Index marks for axis 6
G Calibration distance for axes 1-2-3: 26 mm on each axis
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