5 Calibration information
5.1. Introduction
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5 Calibration information
5.1. Introduction
General
This chapter includes general information about the different calibration methods and also the
detailed procedures that do not require specific calibration equipment.
When the robot system must be recalibrated, it is done according to the documentation
enclosed with the calibration tools.
When to calibrate
The system must be calibrated if any of the following situations occur.
The resolver values are changed
If resolver values are changed, the robot must be recalibrated using the calibration methods
supplied by ABB. Calibrate the robot carefully with standard calibration. The different
methods are briefly described in the section
Calibration methods on page 404
, and further
detailed in separate calibration manuals.
If the robot has
absolute accuracy
calibration, it is also recommended, but not always
necessary to calibrate for new absolute accuracy.
The resolver values will change when parts affecting the calibration position are replaced on
the robot, for example motors or parts of the transmission.
The revolution counter memory is lost
If the revolution counter memory is lost, the counters must be updated. See
revolution counters on page 408
. This will 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
The revolution counters must also be updated after the robot and controller are connected at
the first installation.
The robot is rebuilt
If the robot is rebuilt, for example, after a crash or when the reach ability of a robot is changed,
it needs to be recalibrated for new resolver values.
If the robot has
absolute accuracy
calibration, it needs to be calibrated for new absolute
accuracy.
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