Calibration Method; Type Of Calibration - ABB IRB 14000 Product Manual

5 Calibration

5.2 Calibration method

5.2 Calibration method
Overview
This section specifies the different types of calibration and the calibration methods
that are supplied by ABB.

Type of calibration

Type of
calibration
Standard calibration
Absolute accuracy
calibration
Calibration method
With the fine calibration method, the robot's TCP is linked to the robot base with
hall sensor. Under this condition, all the seven joints' positions are pre-determined,
and all of the axes can be calibrated at the same time.
The fine calibration method is used for all IRB 14000 robots and is the recommended
method in order to achieve proper performance.
Calibration order of axes: axis 1-2-3-4-5-6-7.
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Description
The calibrated robot is positioned with the TCP
linked to the calibration surface at the robot
base, with hall sensor technology.
Based on standard calibration, and besides
positioning the robot at home position, the
Absolute accuracy calibration also com-
pensates 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 data is found
on the SMB in the robot.
A robot calibrated with absolute accuracy has
a sticker next to the identification plate of the
robot.
To regain 100% absolute accuracy perform-
ance, the robot must be recalibrated for abso-
lute accuracy!
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Calibration method
Fine calibration
CalibWare
Product manual - IRB 14000
3HAC052983-001 Revision: D