ABB IRB 6650S Series Product Manual page 407

Calibration of the robot is not finished until the calibration data is saved, as last
step of the calibration procedure.
Preparation prior to calibration
The calibration procedure is described in the FlexPendant while conducting it.
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2
Starting the calibration procedure
Use this procedure to call for the Axis Calibration method on the FlexPendant.
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Product manual - IRB 6650S
3HAC020993-001 Revision: Z
5.4.4 Axis Calibration - Running the calibration procedure
7 The robot performs a measurement sequence by rotating the axis back and
forth.
8 Remove the calibration tool and reinstall the protective cover on the fixed
pin and the protection plug in the bushing, if any.
9 The robot moves to verify that the calibration tool is removed.
10 Choose whether to save the calibration data or not.
Action
DANGER
While conducting the calibration, the robot needs
to be connected to power.
Make sure that the robots working area is empty,
as the robot can make unpredictable movements.
Wipe the calibration tool clean.
Note
The calibration method is exact. Dust, dirt or color
flakes will affect the calibration value.
Action
On the ABB menu, tap Calibration.
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5 Calibration
Continued
Note
Use a clean cloth.
Note
Continues on next page
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