ABB OmniCore IRB 6720 Product Manual

7 The robot performs a measurement sequence by rotating the axis back andforth.8 Remove the calibration tool and reinstall the protective cover on the fixedpin and the protection plug in the bushing, if any.9 The robot moves to verify that the calibration tool is removed.10 Choose whether to save the calibration data or not.Calibration of the robot is not finished until the calibration data is saved, as laststep of the calibration procedure.Preparation prior to calibrationThe calibration procedure is described in the FlexPendant while conducting it.NoteActionDANGERWhile conducting the calibration, the robot needsto be connected to power.Make sure that the robot's working area is empty,as the robot can make unpredictable movements.1Use a clean cloth.Wipe the calibration tool clean.NoteThe calibration method is exact. Dust, dirt or colorflakes will affect the calibration value.2Starting the calibration procedureUse this procedure to start the Axis Calibration routine on the FlexPendant.NoteActionTap the calibration icon and enter the calibrationmain page.1All mechanical units connected to the system areshown with their calibration status.2Tap the mechanical unit in question.NoteFor RobotWare 7, the mechanical unit page isdisplayed only if there is more than one mechan-ical unit available.The FlexPendant will give all inform-ation needed to proceed with AxisCalibration.The calibration method used at ABB factory foreach axis is shown, as well as calibration methodused for the robot during last field calibration.3Valid for RobotWare 74Tap Calibration Methods on the right pane andthen tap Calibration. The software will automatic-ally call for the procedure for the valid calibrationmethod.Continues on next pageProduct manual - IRB 6720 6013HAC085697-001 Revision: C© Copyright 2023 ABB. All rights reserved.6 Calibration6.4.4 Axis Calibration - Running the calibration procedureContinued