Preparing The Calibration Procedure, Refcal - ABB S4Cplus Instruction

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3.3.4. Preparing the calibration procedure, RefCal

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This section details all required preparations for performing Reference Calibration (RefCal).
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The procedure below details how to prepare the calibration procedure.
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1.
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In order to perform Reference Calibration,
reference values must have been defined and
stored to the robot system prior to the
calibration occasion! If no values are
available, the robot must be calibrated with
Pendulum Calibration II instead.
2. Make sure the robot is prepared for calibra-
tion. (i.e. all service or installation activities are
completed and the robot is ready to run.)
3. Check that all required hardware is available
for calibrating the robot.
4. Connect the calibration equipment to the robot
controller and start up the Levelmeter 2000.
5. It is recommended that the reference adapter
should be permanently fitted to the tool when
defining the reference values, in order to
achieve accurate values during calibration.
If the adapter is missing anyhow, it must be
fitted as detailed in section
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6. Remove any mechanical equipment that
might stop the calibration movements, eg.
mechanical stops on axis 1.
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3HAC 16578-1 Revision: E