ABB IRB 390, Product Manual

Page: 298 / 346

6.1.2 Calibration methods
Overview
This section specifies the different types of calibration and the calibration methods
that are supplied by ABB.
Types of calibration
Calibration method Description Type of calibration
Axis Calibration The calibrated robot is positioned at calibration
position. Standard calibration
Standard calibration data is found on the SMB
(serial measurement board) or EIB in the robot.
For robots with RobotWare 5.04 or older, the
calibration data is delivered in a file, calib.cfg,
supplied with the robot at delivery. The file
identifies the correct resolver/motor position
corresponding to the robot home position.
Brief description of calibration methods
Axis Calibration method
Axis Calibration is a standard calibration method for calibration of IRB 390 and is
the most accurate method for the standard calibration. It is the recommended
method in order to achieve proper performance.
The following routines are available for the Axis Calibration method:
• Fine calibration
• Update revolution counters
• Reference calibration
The calibration equipment for Axis Calibration is delivered as a toolkit.
An introduction to the calibration method is given in this manual, see Calibrating
with Axis Calibration method on page 305 .
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
References
Article numbers for the calibration tools are listed in the section Special tools on
page 337 .
298 Product manual - IRB 390
3HAC066566-001 Revision: B
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6 Calibration
6.1.2 Calibration methods