ABB IRB 140 User Manual

3 Calibration
3.16. Resetting of Levelmeter 2000 and sensor
3HAC 022907-001 Revision: -70
Sensor mounted on fixture
When using the sensor as a reference sensor it is fitted to the sensor fixture, together with a
sensor plate, as shown below.
See the section Positions and directions of sensor on page 25 for actual positioning and
orientation of the fixture and the sensor, since the direction of the sensor differs depending on
which axis is calibrated.
xx0100000207
Required equipment
NOTE!
Always secure the sensor to the sensor fixture using screws and with approximately the same
torque each time!
NOTE!
Always fit the sensor in the same direction when resetting it as when performing the
calibration for each axis!
NOTE!
Always reset the sensor when using it in a new direction!
A Reference sensor, fitted to the sensor plate (actual direction differs)
B Sensor fixture, fitted on robot base
C Attachment screws, sensor plate
Equipment Art. no. Note
Levelmeter, one sensor 6369 901-347 Includes one sensor.
Sensor plate 3HAC 0392-1
Sensor fixture 6808 0011-GM
Isopropanol 1177 1012-108 For cleaning the sensor fixture.

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