ABB IRB 140 User Manual

3 Calibration
3.6. Calibration, axis 1, IRB 6600 / IRB 6650 / IRB 6650S / IRB 7600
3HAC 022907-001 Revision: -46
3.6. Calibration, axis 1, IRB 6600 / IRB 6650 / IRB 6650S / IRB 7600
General
This section details how to perform the mechanical calibration of axis 1 using special
calibration equipment without sensors.
The IRB 7600 robot has two different designs of the calibration tabs on the base. The earlier
design is calibrated differently, as detailed in section Calibration, axis 1, IRB 7600 (early
design) on page 48.
Equipment
Calibration tool position
The calibration bracket, calibration tool and measuring pin are positioned at the base of the
robot, as shown in the figure below.
xx0300000364
Equipment Art. no. Note
Isopropanol 1177 1012-208 Used to clean the reference surface.
Calibration bracket 3HAC 13908-9 Fitted to the calibration tab, frame.
Calibration tool 3HAC 13908-4
Measuring pin 3HAC 13908-5 Fitted to the base.
A Calibration bracket
B Calibration tool
C Measuring pin
D Calibration tab, frame
E Calibration tab, base

ABB IRB 140 Specifications

General

Brand	ABB
Model	IRB 140
Category	Robotics
Language	English