ABB S4Cplus Instruction page 78

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3.3.3. Defining reference values for calibration of axes 2-6
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6. Prepare and clean the reference
surfaces to be used.
Clean with isopropanol.
7. Run the service routine CalPendulum
from the FlexPendant and choose
Reference Calibration. If there are no
reference values set for the robot, the
program senses it and requires to
define these.
:DUQLQJ The robot will automatically
move to the calibration position,
keeping the manually set axis 1 position
and setting axes 2-6 to zero.
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Reference surfaces for bending backward
robots (IRB 1600, 6600, 6650, 6650S, 7600):
xx0500002470
Reference surfaces for parallel rod robots
(IRB 140, 1400, 2400, 260, 4400, 4450S,
660):
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A. Reference surface at the tool.
Preparation is detailed in section
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B. Reference surface at base.
C. Reference surface of axis 2.
The program will guide the operator through
the complete procedure, giving information of
each step to perform. Follow the steps in the
program carefully.
How to run a service routine from the
FlexPendant is detailed in the 2SHUDWLQJ
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3HAC 16578-1 Revision: E