5Hihuhqfh &Doleudwlrq; About Reference Calibration - ABB S4Cplus Instruction

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3.3.1. About Reference Calibration

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The Reference Calibration is used in field, to restore the robot home position, eg. after service
activities. (Reference Calibration is a function included in the service routine Calibration
Pendulum.)
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The calibration procedure is based on reference values that are defined once and then used
each time the robot needs to be recalibrated. The values are stored on the controller, with a
file name equal to the serial number of the robot.
The reference values must be defined before required use of robot recalibration.
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Tools and process cabling are allowed on the robot. Reference Calibration will also function
for both floor mounted and hanging robots.
As for the robot position, the axes 2-6 are set to 0º, while the position of axis 1 has no
significance but can instead be set to whatever suits best for the installation site.
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The Reference Calibration routine has following limitations:
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The integrated software for Reference Calibration is developed for RobotWare 5.07 and later.
For RobotWare 4.0 and earlier releases of 5.0, standalone versions are available with manual
operation, detailed in separate documentation enclosed with the release.
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The required tools for Reference Calibration are specified in section
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calibration of axis 1 must be performed with Calibration Pendulum II.
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the axes of a back bending robot are divided into two groups: axes 2, 3, 5 and axes 4,
6. Parallel rod robots have their own calibration reference for axis 2 on the lower arm,
which results in the grouping 2 and 3, 5 and 4, 6 instead. Reference Calibration can
only be used for one axis from each group at the same occassion. Calibration is
consequently not possible for several axes within the same group. If service activities
are performed for several axes within the same group, the service must be divided into
sessions with calibration in between.
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3HAC 16578-1 Revision: E