ABB IRBT 4003S Product Manual page 48

Mechanical installation
Geometric adjustment of track motion
IRBT 4003S In-
line
Figure 10 Carriage layout 4003S, in-line
Item Description
1
2
2. The values taken from the virtual layout must be
3. The prism is placed at the edge of the vertically
4. When the vertical linear guide is measured, the prism
5. When the vertical linear guide matches the virtual
2-18
Vernier scale
Robot center when track motion is at
position X-zero
Action
transferred and implemented on the track motion by
placing the prism along the motion in steps of 1 m to
obtain X-, Y- and Z-values that correspond to the
virtual values.
mounted linear guide and above the horizontally
mounted linear guide; see
should have an angle bracket so that both the Y- and
Z-values can be adjusted.
layout, the horizontal linear guide can be adjusted
either through further measurement or by using a spirit
level on the robot's mounting surface on the carriage.
Item Description
3 X positive direction
4 Mounting hole
Figure 11.
3HEA 800 970-001 Rev. D, Mars 2006
Info/Illustration
Begin by adjusting the level
of the vertical linear guide.