ABB S4Cplus Instruction page 24

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1.4. Calibration scales and correct axis position
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The illustration below shows the positions of the calibration marks on all axes of the robot.
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Calibration scale, axis 1
Calibration scale, axis 2
Calibration scale, axis 3
Calibration scale, axis 4
Calibration scale, axis 5
Calibration scale, axis 6
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3HAC 16578-1 Revision: E