ABB IRB 140 User Manual

1 Overview
1.4. Calibration movement directions for all axes
113HAC 022907-001 Revision: -
1.4. Calibration movement directions for all axes
Calibration movement directions
When calibrating, the axis must consistently be run towards the calibration position in the
same direction, in order to avoid position errors caused by backlash in gears etc. Positive
directions are shown in the figure below.
This is normally handled by the robot calibration software.
Note! The figure shows an IRB 7600, but the positive direction is the same for all robots,
except the positive direction of axis 3 for IRB 6400R which is in the opposite direction!
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ABB IRB 140 Specifications

General

Payload	6 kg
Reach	810 mm
Axes	6
Protection	IP67
Repeatability	±0.03 mm
Type	Articulated Robot
Manufacturer	ABB
Model	IRB 140
Mounting	Floor, Wall, Inverted