ABB IRB 140 User Manual

3 Calibration
3.8. Calibration, axis 1, IRB 6400R
513HAC 022907-001 Revision: -
6. Fit the calibration tool (C) over the measuring pin
and the calibration fixture.
If the tool fits over the pin and the fixture
simultaneously, axis 1 is calibrated correctly. If
not, manually run axis 1 with the joystick until the
tool may be fitted over both the pin and the
fixture.
Art. no. is specified in Equipment
on page 50.
xx0400001129
7. Update only axis 1. Detailed in sections:
Fine calibration procedure on
TPU on page 65 (RobotWare
4.0).
Fine calibration procedure on
FlexPendant on page 67
(RobotWare 5.0).
8. Remove the calibration tools from axis 1.
Step Action Note

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