Calibration Methods - ABB IRB 6640 Product Manual

5 Calibration information

5.2. Calibration methods

5.2. Calibration methods
Overview
This section specifies the different types of calibration and the calibration methods that are
supplied by ABB.
Types of calibration
Type of
calibration
Standard
calibration
Absolute Accuracy
calibration
(optional)
388
Description
The calibrated robot is positioned at home
position, that is the axes' positions (angles) are
set to 0º.
Standard calibration data is found on the SMB
(serial measurement board) 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.
Based on standard calibration, and besides
positioning the robot at home position, the
Absolute Accuracy calibration also
compensates for:
• mechanical tolerances in the robot
structure.
• deflection due to load.
Absolute Accuracy calibration focuses on
positioning accuracy in the Cartesian
coordinate system for the robot.
Absolute Accuracy calibration data is found on
the SMB (serial measurement board) in the
robot.
For robots with RobotWare 5.05 or older the
Absolute Accuracy calibration data is delivered
in a file, absacc.cfg, supplied with the robot at
delivery. The file replaces the calib.cfg file and
identifies motor positions as well as absacc
compensation parameters.
A robot calibrated with Absolute Accuracy has
a sticker next to the identification plate of the
robot.
To regain 100% Absolute Accuracy perfor-
mance, the robot must be recalibrated for
absolute accuracy!
xx0400001197
Calibration method
Calibration Pendulum
(standard method)
CalibWare
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3HAC026876-001 Revision: F