ABB IRB 140, Product Manual

Page: 217 / 252

Two different routines are available for the Calibration Pendulum method:
• Calibration Pendulum II
• Reference calibration
The calibration equipment for Calibration Pendulum is delivered as a complete
toolkit, including the
Operating manual - Calibration Pendulum , which describes
the method and the different routines further.
Levelmeter calibration - alternative method
Levelmeter calibration is referred to as the alternative method for calibration of
ABB robots because of the less accurate values obtained during calibration. The
method uses the same principles as Calibration Pendulum, but does not have as
good of mechanical tolerances to the toolkit parts as the standard method with
Calibration Pendulum.
This method may, after calibration, require modifications in the robot program and
is therefore not recommended.
The calibration equipment (Levelmeter 2000) for levelmeter calibration is ordered
as separate parts for each robot, and includes the
Operating manual - Levelmeter
Calibration , which describes the method and the different routines further.
CalibWare - Absolute Accuracy calibration
To achieve a good positioning in the Cartesian coordinate system, Absolute
Accuracy calibration is used as a TCP calibration. The CalibWare tool guides
through the calibration process and calculates new compensation parameters.
This is further detailed in the
Application manual - CalibWare Field 5.0 .
If a service operation is done to a robot with the option Absolute Accuracy, a new
absolute accuracy calibration is required in order to establish full performance.
For most cases after motor and transmission replacements that do not include
taking apart the robot structure, standard calibration is sufficient. Standard
calibration also supports wrist exchange.
References
Article numbers for the calibration tools are listed in the section Special tools on
page 240 .
The calibration equipment for Calibration Pendulum is delivered as a complete
toolkit, including the
Operating manual - Calibration Pendulum , which describes
the method and the different routines further.
Product manual - IRB 140 217
3HAC027400-001 Revision: V
© Copyright 2004-2018 ABB. All rights reserved.
5 Calibration information
5.2 Calibration methods
Continued