ABB IRB 6620 User Manual

5.2.2 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
and so on. Positive directions are shown in the graphic below.
Calibration service routines will handle the calibration movements automatically
and these might be different from the positive directions shown below.
Manual movement directions, 6 axes
Note! The graphic shows an IRB 7600. 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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312 Product manual - IRB 6620
3HAC027151-001 Revision: T
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5 Calibration
5.2.2 Calibration movement directions for all axes

ABB IRB 6620 Specifications

General

Brand	ABB
Model	IRB 6620
Category	Robotics
Language	English