Calibration Method - ABB IRB 360-1/800 Product Manual

5 Calibration information

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.
Types of calibration
Type of
calibration
Standard calibration
Factory reset
Calibration methods
The calibration method for the IRB 360 is different from other robots, and normal
calibration methods are not applicable.
Calibration by hand
Standard calibration is detailed in section
Continues on next page
238
Description
Standard calibration is performed if resolver
values are changed or the robot is rebuilt (see
When to calibrate on page
The robot is positioned at calibration position,
that is when the positions of the axes 1-3
(angles) are set to parameter values found in
Calibration Position, see type Arm, topic Mo-
tion in Technical reference manual - System
parameters.
Standard calibration data is found on the SMB
(serial measurement board) in the robot.
For robots with RobotWare 5.04 or older, the
calibration data is delivered in a file, calib.cfg,
supplied with the robot at delivery. The file
identifies the correct resolver/motor position
corresponding to the robot home position.
A factory reset (calibration with a calibration
ring) can be performed after a gearbox or an
upper arm has been replaced to ensure en-
hanced robot arm accuracy than when perform-
ing standard calibration. Factory reset alters
the robot's unique production settings for axis
1-3.
To perform ring calibration, the parallel arms
must first be removed from the robot. The up-
per arms must then be positioned vertically
so that the calibration ring can be fitted to
them.
Making a factory reset with the calibration ring
requires specific calibration equipment and
software, and is performed by ABB. Please
contact ABB.
The parameter Calibration Position (cal_posi-
tion) is set at the ABB factory, and is a robot
specific parameter. For more information about
parameter Calibration Position, see topic Mo-
tion, type Arm in Technical reference manu-
al - System parameters.
© Copyright 2008-2018 ABB. All rights reserved.
Calibration method
Calibration by hand
with activated brake
237). release, using the calib-
ration marks.
Ring calibration
Calibrating axis 1-3 on page
Product manual - IRB 360
3HAC030005-001 Revision: U
242.