ABB S4Cplus Instruction page 63

Axis 3-6 IRB 6600/6650, IRB 7600
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3HAC 16578-1 Revision: E
3.2.5. Calibration sensor mounting positions, CalPend
A
Fit the Calibration Pendulum, screw home the attachment screw (by hand)
Compress the spring and rotate the Calibration Pendulum counter clockwise
At the end of the counter clockwise movement drop the Calibration Pendulum into its
calibration position
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