ABB S4Cplus Instruction page 60

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3.2.5. Calibration sensor mounting positions, CalPend
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Axis 3, 4, 5 and 6 IRB 4400, IRB 4450S
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A
B
C
D
E
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The illustrations below show the mounting positions and directions for both the reference
sensor and axis sensors on the robot
Reference position IRB 6600/6650, IRB 7600, IRB 660
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A
58
Calibration sensor
Turning disk adapter
Locking screw
Sensor cable, sensor B
Sensor cable, sensor A
Calibration pendulum in reference sensor position. NOTE! The pendulum is only
fitted in one position at a time!
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3HAC 16578-1 Revision: E