ABB S4Cplus Instruction page 21

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The illustration below shows the positions of the calibration marks on the robot.
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Calibration marks at axes 2 and 3
The calibration marks at axes 2, 3 and 6 shown in the figure above, consist of two single
marks that should be positioned opposite to one another when the robot is standing in its
calibration position. One of the marks is more narrow than the other and should be positioned
within the limits of the wider mark.
3HAC 16578-1 Revision: E
Calibration plate, axis 1
Calibration tab on robot
Calibration mark, axis 2
Calibration mark, axis 3
Calibration plate and marking, axis 6
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1.4. Calibration scales and correct axis position
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