Table of Contents
Advertisement
6: Calibration information
6.0.1 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 documentation enclosed
with the calibration tools.
When to calibrate
The system must be calibrated if any of the below occurs.
The resolver val-
If resolver values are changed, the robot must be recalibrated using the calibration methods
ues are changed
supplied from ABB. Calibrate the robot carefully with standard calibration. The different
methods are briefly described in section
detailed in separate Calibration manuals.
If the robot has Absolute Accuracy calibration, it is also recommended but not always needed
to be calibrated for new Absolute Accuracy.
The resolver values will change when parts affecting the calibration position are replaced on
the robot, e.g. motors, wrist or part of transmission.
Contents of the
If the contents of the revolution counter memory are lost, the counters must be updated as
revolution
detailed in section
counter memory
are lost
The revolution counters must also be updated after the robot and controller are connected at
the first installation.
The robot is
If the robot has been rebuilt, e.g. after a crash or when the robot has been changed for other
rebuilt
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.
3HAC021111-001 Revision: B
Updating revolution counters on page
• 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
6 Calibration information
Calibration methods on page
136. This will occur when:
6.0.1 Introduction
133, and further
131
Advertisement
Table of Contents
