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3HAC 16578-1 Revision: E
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7. Remove all the covers from the reference
surfaces and clean them with isopropanol.
8. Calibrate the robot.
3.3.4. Preparing the calibration procedure, RefCal
1RWH
Reference surfaces for bending
backward robots (IRB 1600, 6600,
6650, 6650S, 7600):
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Reference surfaces for parallel rod
robots (IRB 140, 1400, 2400, 4400,
4450S):
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A. Reference surface at the tool.
B. Reference surface at the base.
C. Reference surface of axis 2.
Detailed in section
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