5.3 Calibration scale and correct axis positionIntroductionThis section specifies the calibration scale positions and/or correct axis positionfor all robot models.Calibration scales/marks, IRB 7600The illustration below shows the location of the calibration scales on specific platesand the calibration marks directly in the casting at axes 2 and 3.The figure shows IRB 6600, but the scales and their positions are the same.xx0200000176Calibration scale, axis 1 (early design)A1Calibration scale, axis 1 (later design)A2Calibration scale, axis 2 (early design)B1Calibration mark, axis 2 (later design)B2Calibration scale, axis 3 (early design)C1Calibration mark, axis 3 (later design)C2Calibration scale, axis 4DCalibration scale, axis 5ECalibration scale, axis 6FCalibration marks at axes 2 and 3The calibration marks at axes 2, 3 and 6, shown in the figure above, consist of twosingle marks that should be positioned opposite to one another when the robot isstanding in its calibration position. One of the marks is more narrow than the otherand should be positioned within the limits of the wider mark.390 3HAC022033-001 Revision: M© Copyright 2007-2013 ABB. All rights reserved.5 Calibration information5.3 Calibration scale and correct axis position
