ABB IRB 140 User Manual

3 Calibration
3.9. Calibration, axis 2
3HAC 022907-001 Revision: -52
3.9. Calibration, axis 2
General
This section details how to perform the actual fine calibration of axis 2 using the alternative
method with Levelmeter 2000 and is applicable for all robot models.
Required equipment
TIP!
Lock the axes previous to the one calibrated to minimize the risk of accidentally moving other
axes! In case of accidental movement of previous axes, the calibration procedure must be
restarted from the moved axis and continued in increasing sequence!
Calibration, axis 2
Equipment Art. no. Note
Levelmeter 2000 6369 901-347 (incl. one sensor) Only one sensor required.
Sensor plate 3HAC 0392-1
Angle bracket 6808 0011-LP For calibration sensor on
robot lower arm.
Isopropanol 1177 1012-108 For cleaning the attachment
points.
Other tools and procedures
may be required. See
references to these
procedures in the step-by-
step instructions below.
These procedures include
references to the tools
required.
Step Action Note
1. Reset the levelmeter and the sensor for
calibration of axis 2.
Detailed in section Resetting of
Levelmeter 2000 and sensor on
page 69.
2. Remove the cover from the calibration surface on
the lower arm and clean the surface with
isopropanol.
Art. no. is specified above in
Required equipment.
3. Fit the angle bracket on the lower arm.
Adjust the angle of the bracket to make it level.
Art. no. is specified above in
Required equipment.
Note! With some of the early
IRB 7600, the M8 screw must be
replaced with an M6 x 25 and flat
washer when fitting the bracket!
4. Fit the calibration sensor together with the sensor
plate on the angle bracket on axis 2.
Carefully tighten the securing screws with
approximately the same tightening torque used at
the reference plane!
Shown in section Positions and
directions of sensor on page 25!

ABB IRB 140 Specifications

General

Brand	ABB
Model	IRB 140
Category	Robotics
Language	English