ABB IRB 140 User Manual

3 Calibration
3.7. Calibration, axis 1, IRB 7600 (early design)
3HAC 022907-001 Revision: -48
3.7. Calibration, axis 1, IRB 7600 (early design)
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. This section
details how to calibrate axis 1 when the robot has the earlier design of the tabs.
Required equipment
Calibration tool position, early design
The calibration tool is positioned at the base of the robot, as shown in the figure below. This
figure shows the early design of the calibration tabs.
xx0200000090
Equipment Art. no. Note
Calibration tool 3HAC 13908-4
A Calibration tool
B Calibration tab, base, early design
C Calibration tab, frame, early design

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