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1 Overview

1.2. How and when to calibrate the robot system

3HAC 022907-001 Revision: -

Additional information

In addition to the basic calibration procedure detailed above, a number of calibration related

actions may be performed:

Start the calibration procedure on the TPU /
FlexPendant.

Detailed in section

Fine calibration

procedure on TPU

on page 65

(RobotWare 4.0).

Detailed in section

Fine calibration

procedure on FlexPendant

on page

67 (RobotWare 5.0).

Calibrate each axis.

Detailed in each axis’ calibration
instruction.

Verify that the calibration was successfully
carried out.

Detailed in section

Post calibration

procedure

on page 78.

Step

Action

Note

Action

Detailed in section:

How to update the robot revolution counter
without performing a complete calibration.

Updating revolution counters

on page 72.

How to manually check the current calibration
position.

Checking the calibration position

on page 23

Содержание Levelmeter 2000

Страница 1: ...Instructions for Levelmeter calibration alternative method Calibration equipment Levelmeter 2000 IRB 140 IRB 1400 IRB 2400 IRB 4400 IRB 6600 IRB 6650 IRB 6650S IRB 7600 IRB 6400R...

Страница 2: ......

Страница 3: ...Instructions for Levelmeter calibration alternative method Levelmeter 2000 IRB 140 IRB 1400 IRB 2400 IRB 4400 IRB 6600 IRB 6650 IRB 6650S IRB 7600 IRB 6400R Document ID 3HAC 022907 001 Revision...

Страница 4: ...a specific purpose or the like In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein This manual and parts thereof must...

Страница 5: ...25 3 Calibration 37 3 1 Introduction 37 3 2 Calibration axis 1 IRB 140 38 3 3 Calibration axis 1 IRB 1400 40 3 4 Calibration axis 1 IRB 2400 42 3 5 Calibration axis 1 IRB 4400 44 3 6 Calibration axis...

Страница 6: ...Table of Contents 3HAC 022907 001 Revision 4...

Страница 7: ...bration does and how it is performed Organization of chapters The manual is organized in the following chapters Revisions Chapter Contents Overview General information about when to calibrate the robo...

Страница 8: ...Overview 3HAC 022907 001 Revision 6...

Страница 9: ...1 Overview 1 1 Introduction General This chapter contains a brief description of how to calibrate a robot using the alternative method with the Levelmeter 2000 This chapter also includes facts useful...

Страница 10: ...a resolver and measurement board is interrupted a robot axis is moved with the control system disconnected Overview Levelmeter Calibration The calibration procedure with Levelmeter 2000 may be perfor...

Страница 11: ...otWare 4 0 Detailed in section Fine calibration procedure on FlexPendant on page 67 RobotWare 5 0 5 Calibrate each axis Detailed in each axis calibration instruction 6 Verify that the calibration was...

Страница 12: ...bration prerequisites Peripheral equipment The robots upper arm must be free from any peripheral equipment during calibration Fitted tools and similar will cause erroneous calibration positions Calibr...

Страница 13: ...towards the calibration position in the same direction in order to avoid position errors caused by backlash in gears etc Positive directions are shown in the figure below This is normally handled by t...

Страница 14: ...1 Overview 1 4 Calibration movement directions for all axes 3HAC 022907 001 Revision 12...

Страница 15: ...information 2 1 Introduction 13 3HAC 022907 001 Revision 2 Reference information 2 1 Introduction General This chapter contains necessary reference information for performing the actual calibration o...

Страница 16: ...equipment such as cleaning agents etc IRB 140 IRB 1400 IRB 2400 IRB 4400 IRB 6600 6650 6650S 7600 IRB 6400R Equipment Art no Calibration tool 3HAC 0181 1 Equipment Art no Calibration tool 3HAB 1378 1...

Страница 17: ...With sensor Sensor fixture 6808 0011 GM All At reference plane Angle bracket 6808 0011 LP All Axis 2 Turning disk fixture 6808 0011 GU All Axes 3 4 5 and 6 Guide pins included Sync adapter 3HAB 7981...

Страница 18: ...evision 16 2 4 Calibration scales and correct axis position Introduction This section specifies the calibration scale positions and or correct axis position for all robot models Calibration scales IRB...

Страница 19: ...ence information 2 4 Calibration scales and correct axis position 17 3HAC 022907 001 Revision Calibration scales IRB 1400 The illustration below shows the calibration scale positions on IRB 1400 en020...

Страница 20: ...ence information 2 4 Calibration scales and correct axis position 3HAC 022907 001 Revision 18 Calibration scales IRB 2400 The illustration below shows the calibration scale positions on IRB 2400 en020...

Страница 21: ...low shows the calibration scale positions on IRB 4400 The calibration marks for axes 2 3 4 and 5 are marked using punch mark tools xx0300000209 A Punch axis 2 3HAB 1521 1 B Punch axis 3 3HAB 1522 1 C...

Страница 22: ...at axes 2 and 3 The calibration marks at axes 2 and 3 shown in the figure above consist of two single marks that should be positioned opposite to one another when the robot is standing in its calibra...

Страница 23: ...Detailed procedures are given further down 1 Select the correct filter type as detailed in Illustration Levelmeter 2000 on page 21 2 Set the measuring unit as detailed in Measuring units on page 22 3...

Страница 24: ...5 does not flash press ZERO SELECT to select filter type 5 and press ENTER Step Action Info Illustration 1 Press ON MODE until the dot flashes under UNIT Shown in the figure Illustration Levelmeter 20...

Страница 25: ...0 0 0 0 0 9E9 9E9 9E9 9E9 9E9 9E9 NoEOffs v1000 z50 Tool0 4 Run the program in manual mode 5 Check that the calibration marks for the axes align correctly If they do not update the revolution counter...

Страница 26: ...s for the axes align correctly If they do not update the revolution counters The calibration marks are shown in section Calibration scales and correct axis position on page 16 Detailed in section Upda...

Страница 27: ...axes of the robot The reference sensor and the calibration sensor is consequently the same sensor used at different locations When using the sensor as a reference at the base it is fitted to a sensor...

Страница 28: ...irections of sensor 3HAC 022907 001 Revision 26 Calibration sensor axis 1 IRB 140 xx0200000140 Calibration sensor axis 2 IRB 140 xx0200000144 1 Reference surface 2 Calibration tool on axis 1 A Calibra...

Страница 29: ...ections of sensor 27 3HAC 022907 001 Revision Calibration sensor axis 3 IRB 140 xx0200000145 Calibration sensor axis 4 IRB 140 xx0200000146 A Calibration sensor position and orientation axis 3 A Calib...

Страница 30: ...ections of sensor 3HAC 022907 001 Revision 28 Calibration sensor axis 5 IRB 140 xx0200000147 Calibration sensor axis 6 IRB 140 xx0200000148 A Calibration sensor position and orientation axis 5 A Calib...

Страница 31: ...his section specifies the position and alignment of the calibration sensor at the reference plane and on each axis of IRB 1400 xx0400001019 A Axis 2 sensor B Axis 3 sensor C Axis 4 sensor D Axis 5 sen...

Страница 32: ...tion specifies the position and alignment of the calibration sensor at the reference plane and on each axis of IRB 2400 xx0300000218 A View from above Axis 2 B View from above Axis 6 C View from above...

Страница 33: ...alignment of the calibration sensor at the reference plane and on each axis of IRB 4400 xx0300000204 A Flange plate B Axis 2 sensor B1 Axis 2 sensor view from above C Axis 3 sensor D Axis 4 sensor E...

Страница 34: ...nd IRB 7600 The figures show IRB 7600 but the positions and alignments are the same for IRB 6600 6650 6650S Calibration sensor at reference plane IRB 6600 IRB 6650 IRB 6650S IRB 7600 The reference sen...

Страница 35: ...3 3HAC 022907 001 Revision Calibration sensor at axes IRB 6600 IRB 6650 IRB 6650S IRB 7600 The calibration sensor is positioned and aligned on the axes as shown in the figures below xx0200000091 xx020...

Страница 36: ...2 Reference information 2 7 Positions and directions of sensor 3HAC 022907 001 Revision 34 xx0200000093 A Calibration sensor axis 4...

Страница 37: ...2 Reference information 2 7 Positions and directions of sensor 35 3HAC 022907 001 Revision xx0200000094 xx0200000095 A Calibration sensor axis 5 A Calibration sensor axis 6...

Страница 38: ...on specifies the position and alignment of the calibration sensor at the reference plane and on each axis of IRB 6400R xx0400001134 A Reference plane B Direction for sensor at reference plane axes 2 3...

Страница 39: ...native method with the Levelmeter 2000 The chapter is divided so that calibration of each axis is detailed in separate sections Only calibration of axis 1 is unique for each robot model otherwise the...

Страница 40: ...ral This section details how to perform the mechanical calibration of axis 1 using special calibration equipment without sensors Required equipment Location of calibration tools axis 1 xx0200000140 Eq...

Страница 41: ...n section Required equipment on page 38 2 Attach the calibration tool to the flat surface Shown in section Location of calibration tools axis 1 on page 38 3 Turn the operating mode selector to MANUAL...

Страница 42: ...alibration equipment without sensors Required equipment Location of calibration tools axis 1 The special calibration equipment is fitted to the base of the robot as shown in the figure below xx0400001...

Страница 43: ...in Required equipment on page 40 3 Fit the calibration tool axis 1 on the guide pin underneath the gearbox Art no is specified in Required equipment on page 40 Shown in the figure Location of calibrat...

Страница 44: ...echanical calibration of axis 1 using special calibration equipment without sensors Required equipment Location of calibration equipment axis 1 The special calibration equipment for axis 1 is fitted t...

Страница 45: ...on tool on the guide pin underneath the gearbox Art no is specified in Required equipment on page 42 5 Release the brakes and move the robot manually so that the calibration tool can be fixed to the b...

Страница 46: ...ut sensors Required equipment Location of calibration tool axis 1 The special calibration equipment is fitted to the base of the robot as shown in the figure below xx0300000202 Equipment etc Art no No...

Страница 47: ...age 44 3 Fit the calibration tool on the guide pin underneath the gearbox Art no is specified in Required equipment on page 44 Shown in the figure Location of calibration tool axis 1 on page 44 4 Fit...

Страница 48: ...rated differently as detailed in section Calibration axis 1 IRB 7600 early design on page 48 Equipment Calibration tool position The calibration bracket calibration tool and measuring pin are position...

Страница 49: ...n tab frame Shown in the figure Calibration tool position on page 46 6 Fit the measuring pin to the base of the robot Shown in the figure Calibration tool position on page 46 7 Fit the calibration too...

Страница 50: ...designs of the calibration tabs on the base This section details how to calibrate axis 1 when the robot has the earlier design of the tabs Required equipment Calibration tool position early design The...

Страница 51: ...nd base according to the figure Calibration tool position early design on page 48 If the tool fits over both tabs alt over the pin and the bracket simultaneously axis 1 is correctly If not manually ru...

Страница 52: ...pin 6896 0011 YN Calibration tool 3HAB 7477 1 Step Action Note 1 Remove the cover plate from the reference surface on the base of the robot Clean the surface with isopropanol and deburr it 2 Fit the...

Страница 53: ...1 is calibrated correctly If not manually run axis 1 with the joystick until the tool may be fitted over both the pin and the fixture Art no is specified in Equipment on page 50 xx0400001129 7 Update...

Страница 54: ...tools and procedures may be required See references to these procedures in the step by step instructions below These procedures include references to the tools required Step Action Note 1 Reset the l...

Страница 55: ...mm m IRB 6600 IRB 6650 IRB 6650S IRB 7600 0 0 05 mm m 7 Update only axis 2 Detailed in sections Fine calibration procedure on TPU on page 65 RobotWare 4 0 Fine calibration procedure on FlexPendant on...

Страница 56: ...1 1 Required for robots IRB 2400 10 IRB 2400 16 Sync adapter 3HAB 1525 1 Required for robot IRB 4400 Sync adapter 3HAC13908 1 Required for robots IRB 6600 IRB 6650 IRB 6650S IRB 7600 Sync adapter 6896...

Страница 57: ...e time as the screws are tightened 4 Run the program SYSTEM UTILITY SERVICE CALIBRAT CALxx xx xxxx robot model e g 7600 in the system and select Calib CAL3 The robot moves to the position for calibrat...

Страница 58: ...on FlexPendant on page 67 RobotWare 5 0 10 Remove the sensor 11 Check the calibration according to section Post calibration procedure on page 78 or continue with calibration of next axis 12 Refit the...

Страница 59: ...1 1 Required for robots IRB 2400 10 IRB 2400 16 Sync adapter 3HAB 1525 1 Required for robot IRB 4400 Sync adapter 3HAC13908 1 Required for robots IRB 6600 IRB 6650 IRB 6650S IRB 7600 Sync adapter 6896...

Страница 60: ...s the screws are tightened 4 Run the program SYSTEM UTILITY SERVICE CALIBRAT CALxx xx xxxx robot model e g 7600 in the system and select Calib CAL4A The robot moves to the position for calibration of...

Страница 61: ...position 12 Update only axis 4 Detailed in sections Fine calibration procedure on TPU on page 65 RobotWare 4 0 Fine calibration procedure on FlexPendant on page 67 RobotWare 5 0 13 Check the calibrati...

Страница 62: ...1 1 Required for robots IRB 2400 10 IRB 2400 16 Sync adapter 3HAB 1525 1 Required for robot IRB 4400 Sync adapter 3HAC13908 1 Required for robots IRB 6600 IRB 6650 IRB 6650S IRB 7600 Sync adapter 6896...

Страница 63: ...as the screws are tightened 4 Run the program SYSTEM UTILITY SERVICE CALIBRAT CALxx xx xxxx robot model e g 7600 in the system and select Calib CAL5 The robot will now move to the position for calibr...

Страница 64: ...on FlexPendant on page 67 RobotWare 5 0 10 Remove the sensor 11 Check the calibration according to section Post calibration procedure on page 78 or continue with calibration of next axis 12 Refit the...

Страница 65: ...1 1 Required for robots IRB 2400 10 IRB 2400 16 Sync adapter 3HAB 1525 1 Required for robot IRB 4400 Sync adapter 3HAC13908 1 Required for robots IRB 6600 IRB 6650 IRB 6650S IRB 7600 Sync adapter 6896...

Страница 66: ...he securing screws with approximately the same tightening torque used at the reference plane Shown in section Positions and directions of sensor on page 25 4 Tip Reduce the jogging velocity in order t...

Страница 67: ...Calibration from the View menu The Calibration window appears If multiple units are connected to the robot they will be listed in the window xx0100000201 The calibration status can be any of the foll...

Страница 68: ...w appears xx0100000204 6 Select the desired axis and press Incl to include it it will be marked with an x or press All to select all axes 7 Press OK when all axes that are to be updated are marked wit...

Страница 69: ...instruction for the axis Fine calibration procedure The procedure below details how to perform the fine calibration procedure on the FlexPendant Step Action 1 Warning Do not fine calibrate the robot...

Страница 70: ...hange programmed robot positions is also displayed Tap Yes to proceed Tap No to cancel Tapping Yes results in displaying a new screen 5 Select the axis to calibrate by Checking the box to the left 6 T...

Страница 71: ...0 and sensor General The equipment must first be reset before calibrating each axis This section details how to reset the Levelmeter 2000 and make the one sensor ready for calibration Levelmeter 2000...

Страница 72: ...100000207 Required equipment NOTE Always secure the sensor to the sensor fixture using screws and with approximately the same torque each time NOTE Always fit the sensor in the same direction when res...

Страница 73: ...e on the robot base Shown in the section Positions and directions of sensor on page 25 4 Clean the area where the sensor fixture is fitted with isopropanol 5 Fit the sensor fixture on the reference su...

Страница 74: ...either on the lower arm or underneath the flange plate on the base At delivery the robot is in the correct position do NOT rotate axis 4 or 6 at power up before the revolution counters are updated If...

Страница 75: ...window xx0100000194 2 Select Calibration from the View menu The Calibration window appears If there is more than one unit connected to the robot they will be listed in the window xx0100000201 3 Select...

Страница 76: ...ended that the revolution counter values are saved to a diskette Not required 8 Caution If a revolution counter is incorrectly updated it will cause incorrect robot positioning which in turn may cause...

Страница 77: ...ox to the left Tapping Select all to update all axes Then tap Update 5 A dialog box is displayed warning that the updating operation cannot be undone Tap Update to proceed with updating the revolution...

Страница 78: ...3 Calibration 3 17 Updating revolution counters 3HAC 022907 001 Revision 76...

Страница 79: ...on 4 1 Introduction 77 3HAC 022907 001 Revision 4 After calibration 4 1 Introduction General This chapter details the final step in the calibration procedure how to verify that the calibration of the...

Страница 80: ...6400R Check the calibration positions of axes 2 5 and 6 If axes 5 and 6 are within the tolerances given below then axes 3 and 4 do not need to be checked The acceptable accuracy is IRB 4400 IRB 6400R...

Страница 81: ...C Calibration position 72 calibration position checking 23 calibration position jog to 24 D direction of axes 11 N negative directions axes 11 P positive directions axes 11 R Revolution counters 72 U...

Страница 82: ......

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