Calibration; Calibration Methods - ABB IRB 1200 Product Specification

1.6 Calibration

1.6.1 Calibration methods

Overview
This section specifies the different types of calibration and the calibration methods
that are supplied by ABB.
The original calibration data delivered with the robot is generated when the robot
is floor mounted. If the robot is not floor mounted, then the robot accuracy could
be affected. The robot needs to be calibrated after it is mounted.
More information is available in the product manual.
Types of calibration
Type of calibration
Standard calibration
Absolute accuracy
calibration (option-
al)
Product specification - IRB 1200
3HAC046982-001 Revision: O
Description
The calibrated robot is positioned at calibration
position.
Standard calibration data is found on the SMB
(serial measurement board) or EIB 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 synchronization posi-
tion, the Absolute accuracy calibration also
compensates for:
• Mechanical tolerances in the robot
structure
• Deflection due to load
Absolute accuracy calibration focuses on pos-
itioning 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 absolute
accuracy compensation parameters.
A robot calibrated with Absolute accuracy has
a sticker next to the identification plate of the
robot.
To regain 100% Absolute accuracy perform-
ance, the robot must be recalibrated for abso-
lute accuracy after repair or maintenance that
affects the mechanical structure.
xx0400001197
© Copyright 2021 ABB. All rights reserved.
1 Description
1.6.1 Calibration methods
Calibration method
Axis Calibration or
i
manual calibration
CalibWare
Continues on next page
37