5.5 Calibrating with Axis Calibration method5.5.1 Description of Axis CalibrationInstructions for Axis Calibration procedure given on the FlexPendantThe actual instructions of how to perform the calibration procedure and what todo at each step is given on the FlexPendant. You will be guided through thecalibration procedure, step by step.This manual contains a brief description of the method, additional information tothe information given on the FlexPendant, article number for the tools and imagesof where to fit the calibration tools on the robot.Overview of the Axis Calibration procedureThe Axis Calibration procedure applies to all axes, and is performed on one axisat the time. The robot axes are both manually and automatically moved into position,as instructed on the FlexPendant.A fixed calibration pin/bushing is installed on each robot axis at delivery.The Axis Calibration procedure described roughly:• A removable calibration tool is inserted by the operator into a calibrationbushing on the axis chosen for calibration, according to instructions on theFlexPendant.WARNINGCalibrating the robot with Axis Calibration requires special calibration toolsfrom ABB. Using other pins in the calibration bushings may cause severedamage to the robot and/or personnel.WARNINGThe calibration tool must be fully inserted into the calibration bushing, untilthe steel spring ring snaps into place.• During the calibration procedure, RobotWare moves the robot axis chosenfor calibration so that the calibration tools get into contact. RobotWare recordsvalues of the axis position and repeats the coming-in-contact procedureseveral times to get an exact value of the axis position.WARNINGRisk of pinching! The contact force for large robots can be up to 150 kg.Keep a safe distance to the robot.• The axis position is stored in RobotWare with an active choice from theoperator.Continues on next page320 Product manual - IRB 6620LX3HAC035737-001 Revision: P© Copyright 2009-2018 ABB. All rights reserved.5 Calibration5.5.1 Description of Axis Calibration
