ABB IRB 14000, Руководство по эксплуатации продукта

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5 Calibration
5.1 Introduction
General
This chapter includes information about the calibration method.
When the robot system must be recalibrated, it is done with special calibration
tools and according to this section.
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
method described in section
Calibrating the robot on page 420 .
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
Updating revolution counters on page 428 . 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.
Product manual - IRB 14000 417
3HAC052983-001 Revision: D
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5 Calibration
5.1 Introduction