Calibration; Calibration Methods - ABB IRB 120 Product Specification

1 Description

1.6.1 Calibration methods

1.6 Calibration

1.6.1 Calibration methods
Overview
This section specifies the different types of calibration and the calibration methods
that are supplied by ABB.
The original calibration data delivered with the robot is generated when the robot
is floor mounted. If the robot is not floor mounted, then the robot accuracy could
be affected. The robot needs to be calibrated after it is mounted.
More information is available in the product manual.
Types of calibration
Type of calibration
Standard calibration
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Brief description of calibration methods
Axis Calibration method
Axis Calibration is a standard calibration method for calibration of IRB 120 and is
the most accurate method for the standard calibration. It is the recommended
method in order to achieve proper performance.
The following routines are available for the Axis Calibration method:
The calibration equipment for Axis Calibration is delivered as a toolkit.
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
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Description
The calibrated robot is positioned at calibration
position.
Standard calibration data is found on the SMB
(serial measurement board) or EIB 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.
The robot is calibrated by either manual calibration or Axis Calibration at factory. Always use the
same calibration method as used at the factory.
Information about valid calibration method is found on the calibration label or in the calibration
menu on the FlexPendant.
If no data is found related to standard calibration, manual calibration is used as default.
• Fine calibration
• Update revolution counters
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Calibration method
Axis Calibration or
manual calibration
Product specification - IRB 120
3HAC035960-001 Revision: T
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