Calibration; General - ABB IRB 6400R Product On-Line Manual

Repairs

9 Calibration

9.1 General

The robot measurement system consists of one feedback unit for each axis and a
measurement board that continuously keeps track of the current robot position.
The measurement board memory has a battery backup.
Note! The accumulator unit will be fully recharged when the main supply has been on
for 36 hrs. without any power interruptions.
The measurement system must be carefully calibrated (as described in Chapter 9.2,
Calibration procedure) if any of the resolver values are changed. This happens when:
- parts affecting the calibration position have been replaced on the robot.
The system needs to be roughly calibrated (as described in Chapter 11.1, Setting the
calibration marks on the manipulator) if the contents of the revolution counter memory
are lost. This may happen when:
- the battery is discharged.
- a resolver error occurs.
- the signal between a resolver and measurement board is interrupted.
- a robot axis has been moved with the control system disconnected.
9.2 Calibration procedure
The calibration is performed with the DynaCal System (see Figure 19).
9 pin male to 9 pin male
DynaCal unit
Note! Hardware key in the parallel port
Figure 19 The DynaCal System.
Product Manual IRB 6400R
Adapter
Power
Calibration
25 pin male to 9 pin fem.
connected to the serial port on
any IBM PC compatible
51