Post Calibration Procedure - ABB S4Cplus Instruction

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3.2.9. Post calibration procedure

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Perform the following procedure after calibrating DQ\ robot axis. The procedure is intended
to verify that all calibration positions are correct.
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The procedure below details how to verify the calibration result.
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1. Run the calibration home position program twice.
Do not change the position of the robot axes after running
the program!
2. Check the calibration positions with help of the sensors as
described earlier for each axis.
IRB 6600, IRB 6650, IRB 6650S and IRB 7600: Check the
calibration positions of all axes. The acceptable
tolerances are:
• axes 2-3: ±0.20 mm/m
• axes 4-6: ±0.40 mm/m
IRB 140, IRB 1400, IRB 4400, IRB 6400R: Check the
calibration positions of axes 2, 5 and 6. If axes 5 and 6 are
within the tolerances given below, then axes 3 and 4 do
not need to be checked. The acceptable accuracy is:
• IRB 4400, IRB 6400R: axes 2-3: ±0.20 mm/m
• IRB 4400, IRB 6400R: axes 4-6: ±0.40 mm/m
• IRB 140, IRB 1400: axes 2-3: ±0.40 mm/m
• IRB 140, IRB 1400: axes 4-6: ±0.80 mm/m.
If the axes are outside the tolerance, start the calibration
procedure from the beginning, in increasing sequence of
the axes.
3. Repeat the check as above.
4. Adjust the FDOLEUDWLRQ PDUNV when the calibration is done,
if necessary.
5. The system parameters will be saved to the storage
memory at power off.
6. Change the values on a new label and stick it on top of the
label located:
• IRB 140, IRB 6600, IRB 6650, IRB 6650S, IRB
7600, IRB 6400R: on the lower arm.
• IRB 1400, IRB 2400, IRB 4400: underneath the
flange plate on the base.
• IRB 260: on the back of the frame.
• IRB 940: on one side of the upper platform.
7. Remove any calibration equipment from the robot.
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3HAC 16578-1 Revision: E