ABB IRB 910INV, Технические характеристики товара

Страница: 34 / 90

1.6 Calibration
1.6.1 Calibration methods
Overview
This section specifies the different types of calibration and the calibration methods
that are supplied by ABB.
The original calibration data delivered with the robot is generated when the robot
is floor mounted. If the robot is not floor mounted, then the robot accuracy could
be affected. The robot needs to be calibrated after it is mounted.
More information is available in the product manual.
Types of calibration
Calibration method Description Type of calibration
Axis Calibration
i
The calibrated robot is positioned at calibration
position. Standard calibration
Standard calibration data is found on the SMB
(serial measurement board) or EIB in the robot.
CalibWare Based on standard calibration, and besides
positioning the robot at synchronization posi-
tion, the Absolute accuracy calibration also
compensates for:
• Mechanical tolerances in the robot
structure
• Deflection due to load
Absolute accuracy calibration focuses on pos-
itioning accuracy in the Cartesian coordinate
system for the robot.
Absolute accuracy
calibration (option-
al)
Absolute accuracy calibration data is found
on the serial measurement board (SMB) or
other robot memory.
A robot calibrated with Absolute accuracy has
the option information printed on its name
plate (OmniCore).
To regain 100% Absolute accuracy perform-
ance, the robot must be recalibrated for abso-
lute accuracy after repair or maintenance that
affects the mechanical structure.
i
Only axes 1 and 2 can be calibrated using Axis Calibration method.
Brief description of calibration methods
Axis Calibration method
Axis Calibration is a standard calibration method for calibration of IRB 910INV. It
is the recommended method in order to achieve proper performance.
The following routines are available for the Axis Calibration method:
• Fine calibration
• Update revolution counters
• Reference calibration
The calibration equipment for Axis Calibration is delivered as a toolkit.
Continues on next page
34 Product specification - IRB 910INV
3HAC068057-001 Revision: M
© Copyright 2019-2023 ABB. All rights reserved.
1 Description
1.6.1 Calibration methods