ABB S4Cplus, Instruction, Page: 70 / 86

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3.2.9. Post calibration procedure
3HAC 16578-1 Revision: E 68
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3-2007 ABB.
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Perform the following procedure after calibrating
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robot axis. The procedure is intended
to verify that all calibration positions are correct.
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The procedure below details how to verify the calibration result.
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1. Run the calibration home position program twice.
Do not change the position of the robot axes after running
the program!
Detailed in section
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2. Check the calibration positions with help of the sensors as
described earlier for each axis.
IRB 6600, IRB 6650, IRB 6650S and IRB 7600: Check the
calibration positions of all axes. The acceptable
tolerances are:
• axes 2-3: ±0.20 mm/m
• axes 4-6: ±0.40 mm/m
IRB 140, IRB 1400, IRB 4400, 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, IRB 6400R: axes 2-3: ±0.20 mm/m
• IRB 4400, IRB 6400R: axes 4-6: ±0.40 mm/m
• IRB 140, IRB 1400: axes 2-3: ±0.40 mm/m
• IRB 140, IRB 1400: axes 4-6: ±0.80 mm/m.
If the axes are outside the tolerance, start the calibration
procedure from the beginning, in increasing sequence of
the axes.
3. Repeat the check as above.
4. Adjust the
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when the calibration is done,
if necessary.
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5. The system parameters will be saved to the storage
memory at power off.
6. Change the values on a new label and stick it on top of the
label located:
• IRB 140, IRB 6600, IRB 6650, IRB 6650S, IRB
7600, IRB 6400R: on the lower arm.
• IRB 1400, IRB 2400, IRB 4400: underneath the
flange plate on the base.
• IRB 260: on the back of the frame.
• IRB 940: on one side of the upper platform.
7. Remove any calibration equipment from the robot.