ABB IRB 140 User Manual

3 Calibration
3.9. Calibration, axis 2
533HAC 022907-001 Revision: -
5.
-
Tip!
Reduce the jogging velocity in order to easily
position the axis as close to zero as possible!
6. Manually run axis 2 with the joystick to the correct
position as indicated by the levelmeter.
Correct measurement on the
levelmeter:
IRB 140, IRB 6400R: 0 ± 0.20
mm/m.
IRB 1400, IRB 2400, IRB 4400:
0 ± 0.40 mm/m.
IRB 6600, IRB 6650, IRB 6650S,
IRB 7600: 0 ± 0.05 mm/m.
7. Update only axis 2. 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 sensor.
9. Refit the cover plate on the calibration surface on
the robot lower arm. Refit also the cover plate on
the reference surface at the base if no further
calibration is performed.
10. Check the calibration according to section Post
calibration procedure on page 78 or continue with
calibration of next axis.
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