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1.6.1.1 Absolute Accuracy calibration
General
Requires RobotWare option Absolute Accuracy, see Product
specification - Controller software IRC5 for more details.
The calibration concept
Absolute Accuracy (AbsAcc) is a calibration concept, which ensures a TCP absolute
accuracy of better than ± 1 mm in the entire working range.
Absolute accuracy compensates for:
Absolute accuracy calibration is focusing on positioning accuracy in the cartesian
coordinate system for the robot. It also includes load compensation for deflection
caused by the tool and equipment. Tool data from robot program is used for this
purpose. The positioning will be within specified performance regardless of load.
Calibration data
The user is supplied with robot calibration data (compensation parameters saved
on the manipulator SMB) and a certificate that shows the performance (Birth
certificate). The difference between an ideal robot and a real robot without AbsAcc
may reach up to 8 mm, resulting from mechanical tolerances and deflection in the
robot structure.
If there is a difference, at first start-up, between calibration data in controller and
the robot SMB, correct by copying data from SMB to controller.
Absolute Accuracy option
Absolute Accuracy option is integrated in the controller algorithms for compensation
of this difference and does not need external equipment or calculation.
Absolute Accuracy is a RobotWare option and includes an individual calibration
of the robot (mechanical arm).
Product specification - IRB 1200
3HAC046982-001 Revision: G
•
Mechanical tolerances in the robot structure
•
Deflection due to load
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1 Description
1.6.1.1 Absolute Accuracy calibration
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