ABB IRB 4400 - 45 User Manual

5 Calibration information
5.4. Calibration movement directions for all axes
3HAC022032-001 Revision: E240
© Copyright 2004-2008 ABB. All rights reserved.
5.4. Calibration movement directions for all axes
Overview
When calibrating, the axis must consistently be run towards the calibration position in the
same direction, in order to avoid position errors caused by backlash in gears etc. Positive
directions are shown in the figure below.
This is normally handled by the robot calibration software.
Calibration movement directions, 6 axes
Note! The figure shows an IRB 7600, but the positive direction is the same for all 6-axis
robots, except the positive direction of axis 3 for IRB 6400R which is in the opposite
direction!
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ABB IRB 4400 - 45 Specifications

General

Payload Capacity	45 kg
Degrees of Freedom	6
Max Speed	2.5 m/s
Protection	IP 54
Type	Industrial robot
Manufacturer	ABB
Model	IRB 4400 - 45
Protection Class	IP 54
Repeatability	0.05 mm
Mounting	Floor