Absolute Accuracy Option - ABB IRB 120 Product Specification

1 Description

1.6.3 Absolute Accuracy option

1.6.3 Absolute Accuracy option
Purpose
Absolute Accuracy is a calibration concept that improves TCP accuracy. The
difference between an ideal robot and a real robot can be several millimeters,
resulting from mechanical tolerances and deflection in the robot structure. Absolute
Accuracy compensates for these differences.
Here are some examples of when this accuracy is important:
The option Absolute Accuracy is integrated in the controller algorithms and does
not need external equipment or calculation.
What is included
Every Absolute Accuracy robot is delivered with:
A robot with Absolute Accuracy calibration is marked on the manipulator.
Absolute Accuracy supports both floor mounted and inverted installations. The
compensation parameters differ depending on if the robot is floor mounted or
inverted.
When is Absolute Accuracy being used
Absolute Accuracy works on a robot target in Cartesian coordinates, not on the
individual joints. Therefore, joint based movements (e.g. MoveAbsJ) will not be
affected.
If the robot is inverted, the Absolute Accuracy calibration must be performed when
the robot is inverted.
Absolute Accuracy active
Absolute Accuracy will be active in the following cases:
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• Exchangeability of robots
• Offline programming with non or minimum touch-up
• Online programming with accurate movement and reorientation of tool
• Accurate cell alignment for MultiMove coordinated motion
• Programming with accurate offset movement in relation to eg. vision system
or offset programming
• Re-use of programs between applications
Note
The performance data is applicable to the corresponding RobotWare version of
the individual robot.
• compensation parameters saved on the robot's serial measurement board
• a birth certificate representing the Absolute Accuracy measurement protocol
for the calibration and verification sequence.
• Any motion function based on robtargets (e.g. MoveL) and ModPos on
robtargets
• Reorientation jogging
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Product specification - IRB 120
3HAC035960-001 Revision: T