5 Calibration, M20005.2.2 Directions for all axes104 3HAC021111-001 Revision: B5.2.2 Directions for all axesCalibrationmovementdirectionsWhen calibrating, the axis must consistently be run towards the calibration position in thesame direction, in order to avoid position errors caused by backlash in gears etc. Positivedirections are shown in the figure below.This is normally handled by the robot calibration software.Note! The figure shows an IRB 7600, but the positive direction is the same for all robots!xx02000000892+4+6+3+1+5+
