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3.3.4. Preparing the calibration procedure, RefCal

793HAC 16578-1 Revision: E

7. Remove all the covers from the reference

surfaces and clean them with isopropanol.

Reference surfaces for bending

backward robots (IRB 1600, 6600,

6650, 6650S, 7600):

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Reference surfaces for parallel rod

robots (IRB 140, 1400, 2400, 4400,

4450S):

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A. Reference surface at the tool.

B. Reference surface at the base.

C. Reference surface of axis 2.

8. Calibrate the robot. Detailed in section &DOLEUDWLRQRID[HV

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ABB S4Cplus Instruction

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