Absolute Accuracy Calibration - ABB IRB 6620 Product Specification

1 Description

1.4.2 Absolute Accuracy calibration

1.4.2 Absolute Accuracy calibration
General
Requires RobotWare option Absolute Accuracy, please see Product specification -
Controller software IRC5/RobotWare 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 (working range of
bending backward robots, eg IRB 6620, are limited to only forward positions).
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 certifi-
cate). The difference between an ideal robot and a real robot without AbsAcc can
typically be 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.
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• Mechanical tolerances in the robot structure
• Deflection due to load
Rev.E 3HAC 025861-001