ABB IRB 120 User Manual

Position of robot axes
The axis chosen for calibration is automatically run by the calibration program to
its calibration position during the calibration procedure.
In order for the axis to be able to be moved to calibration position, or in order for
getting proper access to the calibration bushing, other axes might need to be
jogged to positions different from 0 degrees. Information about which axes are
allowed to be jogged will be given on the FlexPendant. These axes are marked
with Unrestricted in the FlexPendant window.
How to calibrate a suspended or wall mounted robot
The IRB 120 is calibrated floor standing in factory, prior to shipping.
To calibrate a suspended or wall mounted robot with the fine calibration routine,
the robot must first be taken down and mounted standing on the floor.
236 Product manual - IRB 120
3HAC035728-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
5 Calibration
5.4.1 Description of Axis Calibration
Continued

ABB IRB 120 Specifications

General

Type	Industrial Robot
Axes	6
Payload	3 kg
Reach	580 mm
Repeatability	±0.01 mm
Weight	25 kg
Protection	IP40
Controller	IRC5 Compact
Power Consumption	0.25 kW
Mounting	Floor, Wall
Operating Temperature	5°C to 45°C