Calibration Methods - ABB IRB 6650S - 200/3.0 Product Manual

5 Calibration information

5.2. Calibration methods

5.2. Calibration methods
Overview
This section specifies the different types of calibration and the calibration methods that are
supplied from ABB.
Types of calibration
Type of calibra-
tion
Standard
calibration
Absolute Accuracy
calibration
(optional)
366
Description
The calibrated robot is positioned at home
position, i.e. the axes positions (angles) are
set to 0º.
Standard calibration data is found in the file
calib.cfg, supplied with the robot at delivery.
The file identifies the correct resolver/motor
position corresponding to the robot home
position.
From deliveries together with RobotWare 5.0.5
and higher, the data will instead be found on
the SMB (serial measurement board) in the
robot, and not in a separate file.
Based on standard calibration, and besides
positioning the robot at home position, the
Absolute Accuracy calibration also
compensates for:
• mechanical tolerances in the robot
structure
• deflection due to load.
Absolute Accuracy calibration focuses on
positioning accuracy in the Cartesian
coordinate 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
Calibration method
Calibration Pendulum
(standard method)
or
Levelmeter calibration
(alternative method)
CalibWare
Continues on next page
3HAC020993-001 Revision: G