ABB IRB 4600 - 20/2.50, Product Manual

Page: 321 / 374

Calibration methods
Each calibration method is detailed in a separate manual. Following is a brief
description of the methods available.
Calibration Pendulum - 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 performance.
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.
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 342 .
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.
3HAC033453-001 Revision: H 321
© Copyright 2009-2013 ABB. All rights reserved.
5 Calibration
5.2 Calibration methods
Continued