ABB S4Cplus Instruction page 52

 &DOLEUDWLRQ
3.2.5. Calibration sensor mounting positions, CalPend
&RQWLQXHG
,5% 
The illustrations below show the mounting positions and directions for both the reference
sensor and axis sensors on the robot. Notice that the pendulum is only fitted in one position
at a time (the same pendulum is used as both a reference and a calibration sensor).
Reference position IRB 1400
xx0200000248
A
Axis 1 IRB 1400
xx0200000249
A
B
C
50
Calibration pendulum in reference sensor position
Calibration sensor, axis 1
Locating pin
Calibration pendulum attachment screw
&RQWLQXHV RQ QH[W SDJH
3HAC 16578-1 Revision: E