5 Calibration information5.4. Calibration movement directions for all axes1633HAC022031-001 Revision: C© Copyright 2004-2008 ABB. All rights reserved.5.4. Calibration movement directions for all axesOverviewWhen calibrating, the axis must consistently be run towards the calibration position in thesame direction, in order to avoid position errors caused by backlash in gears etc. Positivedirections are shown in the figure below.This is normally handled by the robot calibration software.Calibration movement directions, 6 axesNote! The figure shows an IRB 7600, but the positive direction is the same for all 6-axisrobots, except the positive direction of axis 3 for IRB 6400R which is in the oppositedirection!xx0200000089
