Calibration; Calibration Methods - ABB IRB 660 Product Specification

1 Description

1.4.1 Calibration methods

1.4 Calibration

1.4.1 Calibration methods
Overview
This section specifies the different types of calibration and the calibration methods
that are supplied by ABB.
More information is available in the product manual.
Types of calibration
Type of calibration
Standard calibration
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Brief description of calibration methods
Calibration Pendulum method
Calibration Pendulum is a standard calibration method for calibration of many of
ABB robots (except IRB 6400R, IRB 640, IRB 1400H, and IRB 4400S).
Two different routines are available for the Calibration Pendulum method:
The calibration equipment for Calibration Pendulum is delivered as a complete
toolkit, including the Operating manual - Calibration Pendulum, which describes
the method and the different routines further.
Axis Calibration method
Axis Calibration is a standard calibration method for calibration of IRB 660. It is
the recommended method in order to achieve proper performance.
The following routines are available for the Axis Calibration method:
The calibration equipment for Axis Calibration is delivered as a toolkit.
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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.
The robot is calibrated by either Calibration Pendulum or Axis Calibration at factory. Always use
the same calibration method as used at the factory.
Information about valid calibration method is found on the calibration label or in the calibration
menu on the FlexPendant.
If no data is found related to standard calibration, contact the local ABB Service.
• Calibration Pendulum II
• Reference calibration
• Fine calibration
• Update revolution counters
• Reference calibration
© Copyright 2004-2021 ABB. All rights reserved.
Calibration method
Axis Calibration or Cal-
ibration Pendulum
Product specification - IRB 660
3HAC023932-001 Revision: X
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