ABB OmniCore IRB 6720 Product Manual

6.4.4 Axis Calibration - Running the calibration procedureRequired toolsThe calibration tools used for Axis Calibration are designed to meet requirementsfor calibration performance, durability and safety in case of accidental damage.WARNINGCalibrating the robot with Axis Calibration requires special calibration tools fromABB. Using other pins in the calibration holes may cause severe damage to therobot and/or personnel.NoteArticle numberEquipment, etc.Delivered as a set of calibration tools.Required if Axis Calibration is the validcalibration method for the robot.3HAC074564-001(axes 1, 2, 3 and 4)3HAC074119-001(axes 5 and 6)Calibration toolbox, Axis Cal-ibrationRequired consumablesNoteArticle numberConsumable-Clean clothSpare partsNoteArticle numberSpare partContains replacement calibrationpin covers and protective plugsfor the bushings.3HAC064875-001(axes 1, 2, 3 and 4)3HAC059487-001(axes 5 and 6)Protection cover and plug setOverview of the calibration procedure 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.Use the following list to learn about the calibration procedure before running theRobotWare program on the FlexPendant. It gives you a brief overview of thecalibration procedure.After the calibration method has been started on the FlexPendant, the followingsequence will be run.1 Choose calibration routine. The routines are described in Routines in thecalibration procedure on page 594.2 Choose which axis/axes to calibrate.3 The robot moves to synchronization position.4 Validate the synchronization marks.5 The robot moves to preparation position.6 Remove the protective cover from the fixed pin and the protection plug fromthe bushing, if any, and install the calibration tool.Continues on next page600 Product manual - IRB 67203HAC085697-001 Revision: C© Copyright 2023 ABB. All rights reserved.6 Calibration6.4.4 Axis Calibration - Running the calibration procedure