ABB S4Cplus Instruction page 50

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3.2.5. Calibration sensor mounting positions, CalPend
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Axis 1, IRB 1600 and 1600ID
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A
B
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Axis 2, IRB 140
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A
48
Calibration pendulum as calibration sensor, axis 1
Locating pin
Attachment screw
Calibration pendulum as calibration sensor, axis 2
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3HAC 16578-1 Revision: E