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

Onboard Calibration

10 Onboard Calibration

10.1 General

Onboard Calibration is used to allow short service breaks to check and if necessary
recalibrate the measurement system after e.g. collisions or tool jams, or after a
replacement of a motor on axes 1-4.
In case of a bigger operations e.g. change of structure parts or the wrist the robot have
to be calibrated with the "Field DynaCal" equipment see 9.3and followed by a new
Onboard Calibration to update new sensor position angles.
The sensor position is measured for all axes and stored on a floppy disk and in the
system parameters, and before delivery from SEROP they are printed on a label.
The sensor positions are measured with 0 kg load before shipment from SEROP.
When checking the calibration position with a load (tool), the Onboard Calibration
have to be performed with the same load as in the original measurement, and during
installation new sensor positions should be measured and stored when the load (tool) is
mounted.
If unacceptable deviations in the measurement system is discovered during Onboard
calibration, enter the old calibration offset into the program, and a new correct
calibration offset will be displayed.
The Onboard calibration equipment contains four sensors mounted on the manipulator
axes 1-4, one calibration tool with two mounted sensors for axes 5 and 6, one I/O
connection box with six sensor cables (L = 5 m), one CANBUS cable with Phoenix
connector (L 15 m) one CANBUS cable (L 6 m) and one Tap connector (3 way
connector).
The Onboard calibration kit have to be ordered from ABB and is delivered in a box.
Please order from ABB Robotics Dpt. SEROP/S.
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Repairs
Product Manual IRB 6400R