ABB S4Cplus, Instruction, Page: 82 / 86

&DOLEUDWLRQ
3.3.5. Calibration of axes 2-6 using predefined reference values
3HAC 16578-1 Revision: E 80
© Copyri
ght
200
3-2007 ABB.
All rights reserved.
&DOLEUDWLRQRID[HVXVLQJSUHGHILQHGUHIHUHQFHYDOXHV
*HQHUDO
The calibration procedure requires previously defined reference values. If there are no
reference values stored in the robot system at the occassion of the calibration, Reference
Calibration is not possible. Calibrate the robot using Calibration Pendulum II instead.
&DOLEUDWLRQVHTXHQFH
The program will ask for what axis to calibrate. Reference calibration can only be used for
one axis from each of the groups 2, 3, 5 and 4, 6. The program will automatically run the
correct sequence in order to get the correct accuracy. Axis 4 will always be run four times and
axis 5 will always be run three times.
If two axes have been chosen, these will be run in a double sequence eg. 5, 6, 5, 6.
It is recommended to use automatic fine calibration instead of manual.
&DOLEUDWLRQSURFHGXUH5HIHUHQFH&DOLEUDWLRQ
The procedure below details how to calibrate the robot system with Reference Calibration.
$FWLRQ 1RWH
1. Read the limitations in Reference Calibration. Detailed in section
/LPLWDWLRQVRQSDJH
.
2. Prepare the calibration as detailed in section
3UHSDULQJWKHFDOLEUDWLRQSURFHGXUH5HI&DORQ
SDJH
.
3. Perform a fine calibration of the axis that has
been serviced.
4. Jog the robot close to the defined position
regarding axis 1.
Data about the position is stored in the file that
contains the reference values and will be used
later on in the calibration procedure, but the
axis should be moved as close as possible to
the defined position in order to prevent large
movement of the axis later on.
There should be notes or pictures taken
during definition of the reference values
that shows the position of axis 1.
5. Jog axes 2-6 close to zero degrees.
6. Run the service routine CalPendulum from the
FlexPendant and choose Reference Calibra-
tion.
:DUQLQJ
The robot will move automatically to
the calibration position and will use the values
for axis 1 positioning from the reference file.
The program will guide the operator
through the complete procedure, giving
information of each step to perform.
Follow the steps in the program
carefully.
How to run a service routine from the
FlexPendant is detailed in the
2SHUDWLQJ
PDQXDO,5&ZLWK)OH[3HQGDQW
.
7. After ending the program, remove all the
calibration tools and refit the covers to the
reference surfaces.
8. Restore the robot for production.