An equipment for calibration of an industrial robot which has a plurality
of axes of rotation and wherein, the equipment comprises a measuring
device is adapted for rotatable connection to a reference point the
position of which is known, is adapted to be in contact with the robot, or
a tool carried by the robot, during the calibration process, and has an
axis of rotation which intersects the reference point when the measuring
device is connected to the reference point. The measuring device further
comprises a gravity sensor which is so mounted so that the axis of the
gravity sensor is substantially parallel to the axis of rotation of the
measuring device, whereby the gravity sensor measures the angle between
the gravity vector and axis of rotation.