ABB S4Cplus Instruction page 54

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3.2.5. Calibration sensor mounting positions, CalPend
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The illustrations below show the mounting positions and directions for both the reference
sensor and axis sensors on the robot. Notice that the pendulum is only fitted in one position
at a time (the pendulum is used as both a reference and a calibration sensor)!
Reference position IRB 2400, IRB 260
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A
Axis 1 IRB 2400, IRB 260
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A
B
C
52
Calibration pendulum in reference sensor position
Calibration sensor, axis 1
Locating pin
Calibration pendulum attachment screw
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3HAC 16578-1 Revision: E