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3.2.5. Calibration sensor mounting positions, CalPend

3HAC 16578-1  Revision: E

48

© Copyri

ght 

200

3-2007 ABB.

 All rights reserved.

Axis 1, IRB 1600 and 1600ID

xx0500002491

Axis 2, IRB 140 

xx0200000246

A

Calibration pendulum as calibration sensor, axis 1

B

Locating pin

C

Attachment screw

A 

Calibration pendulum as calibration sensor, axis 2

&RQWLQXHG

&RQWLQXHVRQQH[WSDJH

Summary of Contents for S4Cplus

Page 1: ...DOLEUDWLRQ 3HQGXOXP LQVWUXFWLRQ DOLEUDWLRQ HTXLSPHQW S4Cplus IRC5...

Page 2: ......

Page 3: ...Copyright 2003 2007 ABB All rights reserved Calibration Pendulum Instruction Document ID 3HAC 16578 1 Revision E...

Page 4: ...o persons or property fitness for a specific purpose or the like In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein T...

Page 5: ...WLRQ 3HQGXOXP 3 2 1 About Calibration Pendulum II 38 3 2 2 Preparing the calibration procedure CalPend 39 3 2 3 Calibration all axes CalPend 40 3 2 4 Updating revolution counters 42 3 2 5 Calibration...

Page 6: ...7DEOH RI RQWHQWV 4 3HAC 16578 1 Revision E Copyright 2003 2007 ABB All rights reserved...

Page 7: ...1 General information about the calibration method including information about the required tools 2 Information about how to prepare the equipment prior to calibration 3 Procedures that detail how to...

Page 8: ...Overview 3HAC 16578 1 Revision E 6 Copyright 2003 2007 ABB All rights reserved E Robot model IRB 1600ID added to the calibration procedure 5HYLVLRQ HVFULSWLRQ RQWLQXHG...

Page 9: ...HO 6HULDO QXPEHU IRB 140 14M 21493 IRB 1400 14 26001 IRB 1600 All robots IRB 2400 M2000 24 23050 and on Robots with serial numbers 24 23051 24 23052 24 23054 24 23055 24 23056 and 24 23061 were not ca...

Page 10: ...of the resolver values has been changed This may occur when parts affecting the calibration position have been replaced on the robot Contents of the revolution counter memory are lost Calibrate the s...

Page 11: ...to the attachment screw The service routine will ask the operator whether to use the flip flop variant or not From RobotWare 4 0 100 M2000 and 5 07 M2004 automatic fine calibration is available in the...

Page 12: ...7 ABB All rights reserved DOLEUDWLRQ VFDOHV DQG FRUUHFW D LV SRVLWLRQ QWURGXFWLRQ This section specifies the calibration scale positions and or correct axis position for all robot models DOLEUDWLRQ VF...

Page 13: ...ales and correct axis position 11 3HAC 16578 1 Revision E Copyright 2003 2007 ABB All rights reserved DOLEUDWLRQ VFDOHV 5 The illustration below shows the calibration scale positions on IRB 1400 en020...

Page 14: ...12 Copyright 2003 2007 ABB All rights reserved DOLEUDWLRQ PDUNV 5 The illustration below shows the calibration marks and correct positions of the six axes of the robot The marks shown in the figure a...

Page 15: ...HQHUDO LQIRUPDWLRQ 1 4 Calibration scales and correct axis position 13 3HAC 16578 1 Revision E Copyright 2003 2007 ABB All rights reserved xx0600002876 RQWLQXHG RQWLQXHV RQ QH W SDJH...

Page 16: ...14 Copyright 2003 2007 ABB All rights reserved DOLEUDWLRQ VFDOHV 5 The illustration below shows the calibration marks and correct positions of the six axes of the robot The marks shown in the figure...

Page 17: ...es and correct axis position 15 3HAC 16578 1 Revision E Copyright 2003 2007 ABB All rights reserved DOLEUDWLRQ VFDOHV 5 The illustration below shows the calibration marks on all axes of the robot en02...

Page 18: ...hen axis 3 is put in calibration position the mark on the calibration plate is visible above the mechanical stop as shown in the figure below xx0500002485 A Mechanical stop of axis 3 B Calibration mar...

Page 19: ...low shows the calibration scale positions on IRB 4450S The calibration marks for axes 2 3 4 and 5 are marked using punch mark tools xx0500002239 A Punch axis 2 3HAB 1521 1 B Punch axis 3 3HAB 1522 1 C...

Page 20: ...low shows the calibration scale positions on IRB 4400 The calibration marks for axes 2 3 4 and 5 are marked using punch mark tools xx0300000209 A Punch axis 2 3HAB 1521 1 B Punch axis 3 3HAB 1522 1 C...

Page 21: ...and 3 The calibration marks at axes 2 3 and 6 shown in the figure above consist of two single marks that should be positioned opposite to one another when the robot is standing in its calibration posi...

Page 22: ...and 3 The calibration marks at axes 2 3 and 6 shown in the figure above consist of two single marks that should be positioned opposite to one another when the robot is standing in its calibration posi...

Page 23: ...16 Calibration marks at axes 2 and 3 The calibration marks at axes 2 3 and 6 shown in the figure above consist of two single marks that should be positioned opposite to one another when the robot is s...

Page 24: ...s reserved DOLEUDWLRQ VFDOHV 5 The illustration below shows the positions of the calibration marks on all axes of the robot xx0600003096 A Calibration scale axis 1 B Calibration scale axis 2 C Calibra...

Page 25: ...erved DOLEUDWLRQ VFDOHV PDUNV 5 The figure below shows the positions of the calibration marks on the robot xx0700000148 A Calibration plate axis 1 B Calibration tab on robot C Calibration mark axis 2...

Page 26: ...6 and the correct position of the spiral cable The orientation of axis 4 must be specially checked and corrected if necessary before performing any calibration The figure also shows the calibration di...

Page 27: ...n the figure DOLEUDWLRQ VFDOHV DQG SRVLWLRQV 5 RQ SDJH 2 Make a visual check of the markings on the spiral cable The markings must be positioned in a straight line as shown in the figure DOLEUDWLRQ VF...

Page 28: ...012 208 For cleaning the sensor attachment points 4W RQWHQWV UW QR 1RWH 2 Inclinometer Wyler Zerotronic 3HAC 12837 7 1 Cable set Wyler 3HAC 020841 001 All required cables 1 Leveltronic NT 41 3HAC 1573...

Page 29: ...ays to fit IRB 140 IRB 1400 IRB 2400 and IRB 4400 xx0200000276 1 Locating pin 3HAC 14137 2 68 mm long For axis 1 calibration of IRB 140 IRB 1400 IRB 2400 IRB 260 IRB 4400 and IRB 4450S 1 Calibration b...

Page 30: ...bration plate in a horizontal position 6WRUDJH LQ D QRQ KRUL RQWDO SRVLWLRQ PD FDXVH ORQJ WHUP GULIW DQG HUURUV LQ WKH OHU VHQVRUV 6WRUDJH DQG ZDUP XS After storage the pendulum tool must be mounted i...

Page 31: ...tion 29 3HAC 16578 1 Revision E Copyright 2003 2007 ABB All rights reserved 3UHSDULQJ WKH HTXLSPHQW QWURGXFWLRQ HQHUDO This chapter details the required procedures for preparing the calibration equipm...

Page 32: ...lize the Levelmeter 2000 Detailed procedures are specified in the manual supplied by the manufacturer A Connection sensor A B Connection sensor B C Connection SIO 1 D Selection pointer E Measuring uni...

Page 33: ...hrough the connector marked 287 FRQQHFWLRQ 6 2 0 connect the Levelmeter 2000 to the COM1 port in the control cabinet through the connector marked 287 FRQQHFWLRQ 6 2 Shown in the figure D RXW DQG FRQQH...

Page 34: ...sors is only required for RobotWare 4 0 100 and earlier as well as for RobotWare 5 04 and earlier Later releases of the RobotWare include the sensor calibration in its service routine 4 0 110 and late...

Page 35: ...l A appears under the Port Sensor 5 Press the button ENTER and wait until A stops flashing 6 Press the button ON MODE until the marker moves to the text ZERO 7 Press the button ENTER The direction ind...

Page 36: ...details how to check individual sensors with the Levelmeter 2000 A Sensor calibration pendulum 3HAC 4540 1 B Calibration plate 3HAC 020552 002 FWLRQ 1RWH OOXVWUDWLRQ 1 Place the calibration plate on...

Page 37: ...of seconds until the sensor has been stabilized 1RWH R QRW FKDQJH WKH SRVLWLRQ RI WKH FDOLEUDWLRQ SODWH xx0300000261 5 Read the values for A and B shown by the instrument The difference between the tw...

Page 38: ...3UHSDULQJ WKH HTXLSPHQW 2 4 Checking of sensors 3HAC 16578 1 Revision E 36 Copyright 2003 2007 ABB All rights reserved...

Page 39: ...bot systems YROXWLRQ RYHUYLHZ The table below shows the introduced functions in the calibration service routine XQFWLRQ QFOXGHG LQ VHUYLFH URXWLQH DV IURP 1RWH 0 0 Calibration of sensors and Levelmete...

Page 40: ...RI DOLEUDWLRQ 3HQGXOXP In the calibration procedure the position of the sensor is first measured at the reference plane Then the pendulum calibration sensor is placed on each axis and the robot is ru...

Page 41: ...ve all peripheral equipment from the upper arm of the robot eg tools and dresspack 4 Remove all the covers for the surfaces where to fit the calibration and reference sensors and clean them with isopr...

Page 42: ...H 3 Make a rough calibration Detailed in section 8SGDWLQJ UHYROXWLRQ FRXQWHUV RQ SDJH 4 9DOLG IRU D LV RQO Fit the ORFDWLQJ SLQ to the robot base Make sure the attachment surface is clean and free fro...

Page 43: ...ly on the teach pendant unit but no action is required on behalf of the operator until a specific action is displayed 7 Confirm the position of all calibrated axes when the calibration has been perfor...

Page 44: ...ion values not only according to the calibration marks The correct values are found on a label located either on the lower arm or underneath the flange plate on the base At delivery the robot is in th...

Page 45: ...J ZLWK WKH 738 This section details the second step when updating the revolution counter storing the revolution counter setting with the TPU RobotWare 4 0 IRB 6600 6650 others Yes Yes IRB 6600ID 6650I...

Page 46: ...5 Press OK when all axes that are to be updated are marked with an x CANCEL returns to the Calibration window 6 Press OK again to confirm and start the update CANCEL returns to the Revolution Counter...

Page 47: ...he axis to have its revolution counter updated by Ticking in the box to the left Tapping 6HOHFW DOO to update all axes Then tap 8SGDWH 5 A dialog box is displayed warning that the updating operation c...

Page 48: ...tive calibration positions etc may be found in the Product manual of the robot 5HOHDVLQJ RI FRPSUHVVHG VSULQJ 1RWH Release the compressed spring on the pendulum calibration tool after calibration of a...

Page 49: ...007 ABB All rights reserved Reference position IRB 1600 xx0500002490 Axis 1 IRB 140 xx0200000245 A Calibration pendulum as reference sensor in reference position at base A Calibration pendulum as cali...

Page 50: ...E 48 Copyright 2003 2007 ABB All rights reserved Axis 1 IRB 1600 and 1600ID xx0500002491 Axis 2 IRB 140 xx0200000246 A Calibration pendulum as calibration sensor axis 1 B Locating pin C Attachment scr...

Page 51: ...eserved Axis 2 IRB 1600 1600ID xx0500002492 Axis 3 4 5 and 6 IRB 140 IRB 1600 1600ID xx0200000266 A Calibration pendulum as calibration sensor axis 2 A Calibration pendulum as calibration sensor axis...

Page 52: ...eference sensor and axis sensors on the robot Notice that the pendulum is only fitted in one position at a time the same pendulum is used as both a reference and a calibration sensor Reference positio...

Page 53: ...E Copyright 2003 2007 ABB All rights reserved Axis 2 IRB 1400 xx0200000281 Axis 3 4 5 and 6 IRB 1400 xx0200000266 A Calibration sensor axis 2 A Calibration sensor B Turning disk adapter C Sensor lock...

Page 54: ...nce sensor and axis sensors on the robot Notice that the pendulum is only fitted in one position at a time the pendulum is used as both a reference and a calibration sensor Reference position IRB 2400...

Page 55: ...opyright 2003 2007 ABB All rights reserved Axis 2 IRB 2400 IRB 260 xx0200000280 Axis 3 4 5 and 6 IRB 2400 xx0200000266 A Calibration sensor axis 2 A Calibration sensor B Turning disk adapter C Sensor...

Page 56: ...3 2 5 Calibration sensor mounting positions CalPend 3HAC 16578 1 Revision E 54 Copyright 2003 2007 ABB All rights reserved Axis 3 IRB 260 xx0500002480 A Calibration sensor axis 3 RQWLQXHG RQWLQXHV RQ...

Page 57: ...xis 6 IRB 260 xx0500002481 A Calibration sensor axis 6 B Calibration bar attached between the sensor and a ballplug on the robot C Tapered attachment hole on the turning disk D Ballplug where to attac...

Page 58: ...ce sensor and axis sensors on the robot Notice that the pendulum is only fitted in one position at a time the pendulum is used as both a reference and a calibration sensor Reference position IRB 4400...

Page 59: ...nting positions CalPend 57 3HAC 16578 1 Revision E Copyright 2003 2007 ABB All rights reserved Axis 2 IRB 4400 xx0200000279 Axis 2 IRB 4450S xx0500002488 A Calibration sensor axis 2 A Calibration sens...

Page 60: ...w the mounting positions and directions for both the reference sensor and axis sensors on the robot Reference position IRB 6600 6650 IRB 7600 IRB 660 xx0200000183 A Calibration sensor B Turning disk a...

Page 61: ...WHG WR WKH EDVH LW LV YLWDO WR FKDQJH LW WR WKH QHZ FDOLEUDWLRQ SODWH RU DW OHDVW WR UHPRYH LW GXULQJ FDOLEUDWLRQ xx0400001107 1RWH I SRVLWLRQ EUHDNHU V DUH ILWWHG IRU D LV WKH PXVW EH UHPRYHG EHIRUH...

Page 62: ...ositions CalPend 3HAC 16578 1 Revision E 60 Copyright 2003 2007 ABB All rights reserved Axis 2 IRB 6600 6650 IRB 7600 xx0200000178 Axis 2 IRB 660 xx0500002475 A Calibration pendulum axis 2 A Calibrati...

Page 63: ...UH WKH UHVXOW RI WKH SURFHGXUH WR EH DFFXUDWH LW LV YLWDO WKDW LW LV SHUIRUPHG LGHQWLFDOO HDFK WLPH A Fit the Calibration Pendulum screw home the attachment screw by hand B Compress the spring and rot...

Page 64: ...3 2 5 Calibration sensor mounting positions CalPend 3HAC 16578 1 Revision E 62 Copyright 2003 2007 ABB All rights reserved Axis 3 IRB 660 xx0500002473 A Calibration sensor axis 3 RQWLQXHG RQWLQXHV RQ...

Page 65: ...2003 2007 ABB All rights reserved Axis 6 IRB 660 xx0500002474 A Calibration sensor axis 6 B Calibration bar attached between the sensor and a ballplug on the robot C Tapered attachment hole on the tur...

Page 66: ...low details the preparation of the calibration pendulum before calibration of axis 1 on all robots and axis 1 and 6 on IRB 260 and IRB 660 FWLRQ OOXVWUDWLRQ 1 Compress the spring by moving the inner h...

Page 67: ...h Pendant Unit TPU when calibrating the robot using the Calibration Pendulum II CalPend 3URFHGXUH RQ 738 The procedure below details how to perform the CalPend routine on the TPU FWLRQ OOXVWUDWLRQ 1 P...

Page 68: ...5 Enter the value of your choice of which robot axes to be calibrated Press 2 xx0200000190 Default value All axes In this example axis 1 was selected 6 Press to acknowledge the selection made Press 2...

Page 69: ...H 1 On the ABB menu tap Program Editor 2 Tap on routines 3 Select the Calpendulum routine 4 Start the program by pressing START 5 Selection of Production or Field Service Calibration Select Field Serv...

Page 70: ...400 IRB 6400R Check the calibration positions of axes 2 5 and 6 If axes 5 and 6 are within the tolerances given below then axes 3 and 4 do not need to be checked The acceptable accuracy is IRB 4400 IR...

Page 71: ...eAbsJ 3 Create the following program MoveAbsJ 0 0 0 0 0 0 9E9 9E9 9E9 9E9 9E9 9E9 NoEOffs v1000 z50 Tool0 4 Run the program in manual mode 5 Check that the calibration marks for the axes align correct...

Page 72: ...revolution counters Detailed in section 8SGDWLQJ UHYROXWLRQ FRXQWHUV RQ SDJH FWLRQ 1RWH FWLRQ OOXVWUDWLRQ 1RWH 1 Open the Jogging window xx0100000195 2 Choose running axes by axes xx0100000196 3 Manua...

Page 73: ...ers The calibration marks are shown in section DOLEUDWLRQ VFDOHV DQG FRUUHFW D LV SRVLWLRQ RQ SDJH How to update the counters is detailed in section 8SGDWLQJ UHYROXWLRQ FRXQWHUV RQ SDJH 6 Check that t...

Page 74: ...ificance but can instead be set to whatever suits best for the installation site LPLWDWLRQV The Reference Calibration routine has following limitations calibration of axis 1 must be performed with Cal...

Page 75: ...r floor mounted The reference sensor will be upside down and all the measurements are taken upside down 5HTXLUHG HTXLSPHQW 3UHSDUDWLRQ RI UHIHUHQFH VXUIDFH The procedure below details how to prepare t...

Page 76: ...3HAC 16578 1 Revision E 74 Copyright 2003 2007 ABB All rights reserved 5 Drill the two remaining holes 6 mm to a depth of minimum 5 mm 6 Fit the reference adapter using the two M8 screws and the two...

Page 77: ...rence values differs some between bending backwards and parallel rod robots Differences are pointed out in the procedure FWLRQ 1RWH 1 Make sure the robot is prepared for the procedure i e all service...

Page 78: ...W WRRO RQ SDJH B Reference surface at base C Reference surface of axis 2 7 Run the service routine CalPendulum from the FlexPendant and choose Reference Calibration If there are no reference values se...

Page 79: ...t shows following conditions under which the reference values were taken position and alignment of the calibration pendulum housing at the reference surface on the tool allowed to be fitted in one of...

Page 80: ...bra tion i e all service or installation activities are completed and the robot is ready to run 3 Check that all required hardware is available for calibrating the robot Specified in section TXLSPHQW...

Page 81: ...isopropanol Reference surfaces for bending backward robots IRB 1600 6600 6650 6650S 7600 xx0500002471 Reference surfaces for parallel rod robots IRB 140 1400 2400 4400 4450S xx0500002471 A Reference s...

Page 82: ...Calibration Detailed in section LPLWDWLRQV RQ SDJH 2 Prepare the calibration as detailed in section 3UHSDULQJ WKH FDOLEUDWLRQ SURFHGXUH 5HI DO RQ SDJH 3 Perform a fine calibration of the axis that has...

Page 83: ...updating revolution counters 44 Levelmeter 2000 connections 30 power 31 settings 30 start up 30 0 MoveAbsJ instruction FlexPendant 69 TPU 69 3 pendulum See sensor position robot 10 preparing Calibrati...

Page 84: ...QGH 82 3HAC 16578 1 Revision E Copyright 2003 2007 ABB All rights reserved...

Page 85: ......

Page 86: ...ABB Robotics S 721 68 V STER S SWEDEN Telephone 46 0 21 344000 Telefax 46 0 21 132592 3HAC 16578 1 Revision E en...

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