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5 Calibration information
5.0.2 Calibration methods
3HAC026320-001 Revision: A 115
Calibration methods
Each calibration method is detailed in a separate manual. Below is a brief description of the
methods available.
Calibration Pen-
dulum - standard
method Calibration Pendulum is the standard method for calibration of all ABB robots (except IRB
6400R, IRB 640 and IRB 4400S) and is also the most accurate method for the standard type
of calibration. It is the recommended method in order to achieve proper performance.
Two different routines are available for the Calibration Pendulum method:
• Calibration Pendulum II
• Reference Calibration.
The calibration equipment for Calibration Pendulum is delivered as a complete toolkit,
including the operating manual for Calibration Pendulum, which describes the method and
the different routines further.
Absolute Accuracy
calibration
(optional) Based on standard calibration, and besides
positioning the robot at home position, the
Absolute Accuracy calibration also compen-
sates for:
mechanical tolerances in the robot structure
deflection due to load.
Absolute Accuracy calibration focuses on
positioning accuracy in the Cartesian coordi-
nate system for the robot.
Absolute Accuracy data is found in the file
absacc.cfg, supplied with the robot at delivery.
The file replaces the calib.cfg file and identifies
motor positions as well as absacc-compensa-
tion parameters.
From deliveries together with RobotWare 5.0.6
and higher, the data will instead be found on
the SMB (serial measurement board) in the
robot, and not in a separate file.
A robot calibrated with AbsAcc has a sticker
next to the identification plate of the robot.
To regain 100% Absolute Accuracy perfor-
mance, the robot must be recalibrated for
Absolute Accuracy!
xx0400001197
CalibWare
Type of
calibration
Description Calibration method