5.2.2 Calibration movement directions for all axesOverviewWhen calibrating, the axis must consistently be run towards the calibration positionin the same direction in order to avoid position errors caused by backlash in gearsand so on. Positive directions are shown in the graphic below.Calibration service routines will handle the calibration movements automaticallyand these might be different from the positive directions shown below.Manual movement directions, 6 axesNote! The graphic shows an IRB 7600. The positive direction is the same for all6-axis robots, except the positive direction of axis 3 for IRB 6400R, which is in theopposite direction!xx0200000089344 Product manual - IRB 1600/16603HAC026660-001 Revision: W© Copyright 2006-2018 ABB. All rights reserved.5 Calibration5.2.2 Calibration movement directions for all axes
