ABB IRB 1400, Product Manual

Page: 101 / 198

5 Calibration, M2000
5.0.1 Introduction
3HAC021111-001 Revision: B 99
5: Calibration, M2000
5.0.1 Introduction
Calibration
methods
This chapter details how to calibrate the robot with the Wyler calibration equipment, using
Levelmeter 2000, when the robot is part of an M2000 robot system (S4Cplus controller).
The robot can also be calibrated with the Calibration Pendulum equipment, as detailed in the
Calibration Pendulum Instruction, enclosed with the Pendulum toolkit.
When to calibrate The system must be calibrated if any of the below occurs.
Changed resolver
values
Calibrate the measurement system carefully as detailed in section Calibration on page 110 if
any of the resolver values have changed. This may occur when parts affecting the calibration
position are replaced on the robot.
Contents of the
revolution
counter memory
are lost
Calibrate the system roughly as detailed in section Updating the revolution counters on page
127 if the contents of the revolution counter memory are lost. This may occur when:
• the battery is discharged
• a resolver error occurs
• the signal between a resolver and measurement board is interrupted
• a robot axis is moved with the control system disconnected