5 Calibration information5.4. Calibration movement directions for all axes1673HAC023297-001 Revision: A5.4. Calibration movement directions for all axesCalibration movement directionsWhen 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.Note! The figure shows an IRB 7600, but the positive direction is the same for all robots,except the positive direction of axis 3 for IRB 6400R which is in the opposite direction!xx0200000089
