ABB OmniCore IRB 6740 Product Manual

2 Run the manipulator to the verification position. (The manipulator positionis now deviating from the verification position.)3 Read and note current axis 4 value in degrees (example: 96.3 degrees).4 Manually jog, only axis 4, so that the manipulator is correctly positioned tothe verification position.5 Read and note current axis 4 value in degrees (example: 94.2 degrees).6 Move the manipulator to its calibration position.7 Calculate the angle difference (ie 96.3-94.2=2.1 degrees).8 Manually jog axis 4 the calculated angle difference (-2.1). NOTE! The direction+/- shall be the same direction as the direction used when axis 4 was manuallyjogged to coincide with the verification process. In the example -2.1 degrees.9 Make a new manual fine calibration of axis 4 with axis in -2.1 degrees position.10 Check again against the verification position.11 Repeat the manual tuning if needed.12 Create a new reference if the intention is to use the reference in the future.630 Product manual - IRB 67403HAC085701-001 Revision: A© Copyright 2023 ABB. All rights reserved.6 Calibration6.4.5 Reference calibrationContinued