5.5 Calibrating with manual calibration methodIntroductionThis section describes how to calibrate the robot manually and how to use thecalibration pins when calibrating.NoteCalibration can be done in the following ways:• axis 1, 2 and 3 at the same time using the FlexPendant• axis 4, 5 and 6 at the same time using the FlexPendant• each axis separately.Location of calibration pinsThe figure shows the position of the calibration pins on axes 1 - 6.AB1 2 34 5-6CDEFxx0900000627Calibration, axis 1. (Rotate axis 1 -170.2°)1Calibration pins, axis 1ACalibration, axis 2. (Rotate axis 2 -115.1°)2Calibration pins, axis 2BCalibration, axis 3. (Rotate axis 3 75.8°)3Calibration pins, axis 3CCalibration, axis 4. (Rotate axis 4 -174.7°)4Calibration pins, axis 4DCalibration, axis 5-6. (Rotate axis 5 -90° and axis 6 90°)5-6Continues on next page242 Product manual - IRB 1203HAC035728-001 Revision: N© Copyright 2009-2017 ABB. All rights reserved.5 Calibration5.5 Calibrating with manual calibration method
