ABB IRB 6640 Product Manual page 391

Calibration methods
Each calibration method is detailed in a separate manual. Below is a brief description of the
methods available.
Calibration Pendulum - standard method
Calibration Pendulum is the standard method for calibration of all ABB robots (except IRB
6400R, IRB 640, IRB 1400H and IRB 4400S) and is also the most accurate method for the
standard type of calibration. It is the recommended method in order to achieve proper
performance.
Two different routines are available for the Calibration Pendulum method:
The calibration equipment for Calibration Pendulum is delivered as a complete toolkit,
including the operating manual for Calibration Pendulum, which describes the method and
the different routines further.
CalibWare - Absolute Accuracy calibration
To achieve a good positioning in the Cartesian coordinate system, Absolute Accuracy
calibration is used as a TCP calibration. The CalibWare tool guides through the calibration
process and calculates new compensation parameters. This is further detailed in the
application manual Absolute Accuracy Calibware Field 5.0.
If a service operation is done to a robot with Absolute Accuracy, a new absolute accuracy
calibration is required in order to establish full performance. For most cases after motor and
transmission replacements that do not include taking apart the robot structure, standard
calibration is sufficient. Standard calibration also supports wrist exchange.
References
Article numbers for the calibration tools are listed in the section
The calibration equipment for Calibration Pendulum is delivered as a complete toolkit,
including Operating manual - Calibration Pendulum, which describes the method and the
routines further.
3HAC026876-001 Revision: F
•
Calibration Pendulum II
• Reference Calibration
5 Calibration information
5.2. Calibration methods
Continued
Special tools on page 410.
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