ABB IRB 6640, Руководство по эксплуатации продукта

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5 Calibration information
5.1. Introduction
387 3HAC026876-001 Revision: F
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5 Calibration information
5.1. Introduction
General
This chapter includes general information about different calibration methods and also details
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 388 , 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 Updating
revolution counters on page 392 . 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 robot is changed for other
reachability, 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.