Calibration Movement Directions For All Axes - ABB IRB 6650S Series Product Manual

Table of Contents

5.2.2 Calibration movement directions for all axes

When calibrating, the axis must consistently be run towards the calibration position

in the same direction in order to avoid position errors caused by backlash in gears

and so on. Positive directions are shown in the graphic below.

Calibration service routines will handle the calibration movements automatically

and these might be different from the positive directions shown below.

Manual movement directions, 6 axes

Note! The graphic shows an IRB 7600. The positive direction is the same for all

6-axis robots, except the positive direction of axis 3 for IRB 6400R, which is in the

opposite direction!

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Product manual - IRB 6650S

3HAC020993-001 Revision: Z

5.2.2 Calibration movement directions for all axes

5 Calibration