&DOLEUDWLRQ3HQGXOXPLQVWUXFWLRQ

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S4Cplus/IRC5
 *HQHUDOLQIRUPDWLRQ

1.4.Cali
brati
on scales and correctaxi
s posi
ti
on

   & DOLE UDWLRQV F DOHV DQG F RUUHF WD[ LV S RV LWLRQ

, QWURG X F WLRQ

This sectionspecifies the calibrationscale positions and/or correct axis positionfor all robot
models.

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The illustrationbelow shows the calibrationscale positions onIRB 140:

© Copyright 2003-2007 ABB. All rights reserved.

xx0200000157

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10 3HAC 16578-1 Revi

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brati
on scales and correctaxi
s posi
ti
on

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The illustrationbelow shows the calibrationscale positions onIRB 1400:

en0200000272
© Copyright 2003-2007 ABB. All rights reserved.

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1.4.Cali
brati
on scales and correctaxi
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ti
on

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& DOLE UDWLRQPDUN V  , 5 %   

The illustrationbelow shows the calibrationmarks and correct positions ofthe sixaxes ofthe
robot. The marks showninthe figure are numbered according to the number ofthe axes.

© Copyright 2003-2007 ABB. All rights reserved.

xx0500001423

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12 3HAC 16578-1 Revi

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on scales and correctaxi
s posi
ti
on

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xx0600002876

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3HAC 16578-1 Revi

sion:E 13
 *HQHUDOLQIRUPDWLRQ

1.4.Cali
brati
on scales and correctaxi
s posi
ti
on

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& DOLE UDWLRQV F DOHV  , 5 %    , '

The illustrationbelow shows the calibrationmarks and correct positions ofthe sixaxes ofthe
robot. The marks showninthe figure are numbered according to the number ofthe axes.

© Copyright 2003-2007 ABB. All rights reserved.

xx0700000095

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14 3HAC 16578-1 Revi

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 *HQHUDOLQIRUPDWLRQ

1.4.Cali
brati
on scales and correctaxi
s posi
ti
on

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& DOLE UDWLRQV F DOHV  , 5 %    

The illustrationbelow shows the calibrationmarks onall axes ofthe robot.

© Copyright 2003-2007 ABB. All rights reserved.

en0200000273

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3HAC 16578-1 Revi

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1.4.Cali
brati
on scales and correctaxi
s posi
ti
on

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& DOLE UDWLRQV F DOHV  , 5 %   

W henaxis 3 is put incalibrationposition,the markonthe calibrationplate is visible above

the mechanical stop,as showninthe figure below.

© Copyright 2003-2007 ABB. All rights reserved.

xx0500002485

A Mechani
cal stop ofaxi
s3
B Cali
brati
on mark on cali
brati
on plate,axi
s3
C Cali
brati
on plate and marki
ng,axi
s6
D Punch,axi
s 1,3HAB8223-1
E Punch,axi
s 2,3HAB8223-1 (1 marki
ng)

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16 3HAC 16578-1 Revi

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brati
on scales and correctaxi
s posi
ti
on

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& DOLE UDWLRQV F DOHV  , 5 %     6

The illustrationbelow shows the calibrationscale positions onIRB 4450S.

The calibrationmarks for axes 2,3,4and 5are marked using punch marktools.
© Copyright 2003-2007 ABB. All rights reserved.

xx0500002239

A Punch axi
s 2,3HAB 1521-1
B Punch axi
s 3,3HAB 1522-1
C Punch axis 4,3HAB 1523-1 (there are two di
fferentversi
ons ofthe marks,as
shown i
n the fi
gure)
D Punch axi
s 5,3HAB 1524-1
E Axes 5 and 6,IRB 4400/L10

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3HAC 16578-1 Revi

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ti
on

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The illustrationbelow shows the calibrationscale positions onIRB 4400.

The calibrationmarks for axes 2,3,4and 5are marked using punch marktools.

© Copyright 2003-2007 ABB. All rights reserved.

xx0300000209

A Punch,axi
s 2,3HAB 1521-1
B Punch,axi
s 3,3HAB 1522-1
C Punch,axi s 4,3HAB 1523-1 (there are two di
fferentversi
ons ofthe marks,as shown
i
n the fi
gure)
D Punch,axi
s 5,3HAB 1524-1
E Axes 5 and 6,IRB 4400/L10

&RQWLQXHVRQQH[WSDJH

18 3HAC 16578-1 Revi

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1.4.Cali
brati
on scales and correctaxi
s posi
ti
on

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& DOLE UDWLRQV F DOHV  PDUN V  , 5 %   

The illustrationbelow shows the positions ofthe calibrationmarks onthe robot.

xx0500002487
© Copyright 2003-2007 ABB. All rights reserved.

A Cali
brati
on plate,axi
s1
B Cali
brati
on tab on robot
C Cali
brati
on mark,axi
s2
D Cali
brati
on mark,axi
s3
E Cali
brati
on plate and marki
ng,axi
s6

Cali
brati
on marks ataxes 2 and 3
The calibrationmarks at axes 2,3 and 6showninthe figure above,consist oftwo single
marks that should be positioned opposite to one another whenthe robot is standing inits
calibrationposition. One ofthe marks is more narrow thanthe other and should be positioned
withinthe limits ofthe wider mark.

&RQWLQXHVRQQH[WSDJH

3HAC 16578-1 Revi

sion:E 19
 *HQHUDOLQIRUPDWLRQ

1.4.Cali
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ti
on

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& DOLE UDWLRQV F DOHV  PDUN V  , 5 %      , 5 %      , 5 %     6  , 5 %    

The illustrationbelow shows the locationofthe calibrationscales onspecificplates and the

calibrationmarks directly inthe casting at axes 2 and 3.
The figure shows IRB 6600,but the scales and their positions are the same for IRB 6650S
and IRB 7600.

xx0200000176

A1 Cali
brati
on scale,axi
s 1 (early desi
gn)
A2 Cali
brati
on scale,axi
s 1 (laterdesi
gn)
B1 Cali
brati
on scale,axi
s 2 (early desi
gn)
B2 Cali
brati
on mark,axi
s 2 (laterdesi
gn)
C1 Cali
brati
on scale,axi
s 3 (early desi
gn)
C2 Cali
brati
on mark,axi
s 3 (laterdesi
gn)

© Copyright 2003-2007 ABB. All rights reserved.

D Cali
brati
on scale,axi
s4
E Cali
brati
on scale,axi
s5
F Cali
brati
on scale,axi
s6

Cali
brati
on marks ataxes 2 and 3
The calibrationmarks at axes 2,3 and 6showninthe figure above,consist oftwo single
marks that should be positioned opposite to one another whenthe robot is standing inits
calibrationposition. One ofthe marks is more narrow thanthe other and should be positioned
withinthe limits ofthe wider mark.

&RQWLQXHVRQQH[WSDJH

20 3HAC 16578-1 Revi

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on scales and correctaxi
s posi
ti
on

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& DOLE UDWLRQV F DOHV  PDUN V  , 5 %     , ' DQG , 5 %     , '

The illustrationbelow shows the locationofthe calibrationscales onspecificplates and the

calibrationmarks directly inthe casting at axes 2 and 3.

xx0500002016

A Cali
brati
on scale,axi
s1
B Cali
brati
on mark,axi
s2
C Cali
brati
on mark,axi
s3
D Cali
brati
on scale,axi
s4
E Cali
brati
on plate,axi
s5
F Cali
brati
on plate,axi
s6

Cali
brati
on marks ataxes 2 and 3
© Copyright 2003-2007 ABB. All rights reserved.

The calibrationmarks at axes 2,3 and 6showninthe figure above,consist oftwo single
marks that should be positioned opposite to one another whenthe robot is standing inits
calibrationposition. One ofthe marks is more narrow thanthe other and should be positioned
withinthe limits ofthe wider mark.

&RQWLQXHVRQQH[WSDJH

3HAC 16578-1 Revi

sion:E 21
 *HQHUDOLQIRUPDWLRQ

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s posi
ti
on

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& DOLE UDWLRQV F DOHV  , 5 %    

The illustrationbelow shows the positions ofthe calibrationmarks onall axes ofthe robot.

© Copyright 2003-2007 ABB. All rights reserved.

xx0600003096

A Cali
brati
on scale,axi
s1
B Cali
brati
on scale,axi
s2
C Cali
brati
on scale,axi
s3
D Cali
brati
on scale,axi
s4
E Cali
brati
on scale,axi
s5
F Cali
brati
on scale,axi
s6

&RQWLQXHVRQQH[WSDJH

22 3HAC 16578-1 Revi

sion:E
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brati
on scales and correctaxi
s posi
ti
on

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& DOLE UDWLRQV F DOHV  PDUN V  , 5 %    

The figure below shows the positions ofthe calibrationmarks onthe robot.
© Copyright 2003-2007 ABB. All rights reserved.

xx0700000148

A Cali
brati
on plate,axi
s1
B Cali
brati
on tab on robot
C Cali
brati
on mark,axi
s2
D Cali
brati
on mark,axi
s3
E Cali
brati
on mark,axi
s4
F Cali
brati
on mark,axi
s5
G Cali
brati
on mark,axi
s6

&RQWLQXHVRQQH[WSDJH

3HAC 16578-1 Revi

sion:E 23
 *HQHUDOLQIRUPDWLRQ

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: $ 5 1 , 1 *

Axis 4has no mechanical limitation!Cabling inside the manipulator may be damaged ifaxis
4is oriented incorrectly whenperforming calibrationofthe robot!

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The figure below shows the calibrationmarks ofthe axes 4-5-6and the correct positionofthe
spiral cable. The orientationofaxis 4must be specially checked and corrected,ifnecessary,
before performing any calibration!
The figure also shows the calibrationdistance onthe axes 1-2-3.
Ifthe positionofany axis needs to be changed,this is described inthe procedures below.

© Copyright 2003-2007 ABB. All rights reserved.

xx0200000341

A Axi
s 4 (centertube)
B Spi
ral cable i
nspecti
on cover
C Correctori
entati
on ofthe spi
ral cable (and axi
s 4)
D Index marks foraxi
s4
E Index marks foraxi
s5
F Index marks foraxi
s6
G Cali
brati
on di
stance foraxes 1-2-3:26 mm on each axi
s

&RQWLQXHVRQQH[WSDJH

24 3HAC 16578-1 Revi

sion:E