ABB IRB 1400, Product Manual

Page: 135 / 198

6 Calibration information
6.0.2 Calibration methods
3HAC021111-001 Revision: B 133
Calibration
methods
Each calibration method is detailed in a separate manual. Below is a brief description of the
methods available.
Calibration Pen-
dulum - standard
method
Calibration Pendulum is the standard method for calibration of all ABB robots (except IRB
6400R, IRB 640, IRB 1400H and IRB 4400S) and is also the most accurate method for the
standard type of calibration. It is the recommended method in order to achieve proper perfor-
mance.
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 for Calibration Pendulum, which describes the method and
the different routines further.
Levelmeter Cali-
bration - alterna-
tive 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 there-
fore not recommended.
The calibration equipment for Levelmeter Calibration is ordered as separate parts for each
robot and the operating manual for Levelmeter Calibration is enclosed with the Levelmeter
2000.
CalibWare - Abso-
lute Accuracy cal-
ibration In order to achieve a good positioning in the Cartesian coordinate system, Absolute Accuracy
is used as a TCP calibration. The tool CalibWare guides through the calibration process and
calculates new compensation parameters. This is detailed further in the manual CalibWare 2.0
Users Guide (M2000).
If a service operation is done to a robot with 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 cali-
bration is sufficient. Standard calibration also supports wrist exchange.
References
Article numbers for the calibration tools are listed in section Special tools in part 2 of the
Product manual. A calibration manual is enclosed with the calibration tools.
The article numbers for the operating manuals for calibration are also listed in section xx.