ABB IRB 640, Product Manual

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Repairs Calibration
Product Manual IRB 640 45
9 Calibration
9.1 General
The robot measurement system consists of one feedback unit for each axis and a meas-
urement board that continuously keeps track of the current robot position.
The measurement board memory has a battery backup.
Note! The accumulator unit will be fully recharged when the mains supply has
been on for 36 hrs. without any power interruptions.
If any of the resolver values are changed, the measurement system must be carefully
calibrated (as described in Chapter 9.2, Calibration procedure). This happens when:
- parts affecting the calibration position have been replaced on the robot.
If the contents of the revolution counter memory are lost, the system needs to be
roughly calibrated (as described in Chapter 9.4, Setting the calibration marks on the
manipulator). This may happen when:
- the battery is discharged.
- a resolver error occurs.
- the signal between a resolver and measurement board is interrupted.
- a robot axis has been moved with the control system disconnected.
9.2 Calibration procedure
The axes must be adjusted in increasing sequence, i.e., 1 - 2 - 3 - 5 - 6.
1. Position the manipulator approximately in calibration position 0 as shown Figure
11.
2. Select the MOTORS OFF mode.
Axis 1
3. Remove cover plate on the reference surface on gearbox 1.
4. Attach the synchronisation fixture 6896 0011-YM to the flat surface and insert the
corresponding measuring rod 6896 0011-YN in one of the three holes in the base.
Turn the operating mode selector to MANUAL REDUCED SPEED.
5. Press the enable device on the programming unit and operate the robot manually
with the joystick until the measuring rod is positioned within the flat surface on the
calibration fixture’s elbow.
Be careful! Risk of injury!