ABB IRB 1200 Product Manual page 807

Type of calibration
Optimization
i
Brief description of calibration methods
Axis Calibration method
Axis Calibration is a standard calibration method for calibration of IRB 1200. 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.
An introduction to the calibration method is given in this manual, see
with Axis Calibration method on page
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
Wrist Optimization method
Wrist Optimization is a method for improving reorientation accuracy for continuous
processes like welding and gluing and is a complement to the standard calibration
method.
The following routines are available for the Wrist Optimization method:
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
Manual calibration method
With the manual calibration method, the robot's axes are positioned in specific
calibration positions using calibration tools. Under this condition, the position of
the axis to be calibrated is pre-determined. The axes must be calibrated one at a
time.
CalibWare - Absolute Accuracy calibration
The CalibWare tool guides through the calibration process and calculates new
compensation parameters. This is further detailed in the Application
manual - CalibWare Field.
Product manual - IRB 1200
3HAC046983-001 Revision: S
Description
Optimization of TCP reorientation perform-
ance. The purpose is to improve reorientation
accuracy for continuous processes like weld-
ing and gluing.
Wrist optimization will update standard calib-
ration data for axes 4 and 5.
The robot is calibrated by either manual calibration 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, manual calibration is used as default.
• Fine calibration
• Update revolution counters
• Reference calibration
• Wrist Optimization
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5.1.2 Calibration methods
Calibration method
Wrist Optimization
818.
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5 Calibration
Continued
Calibrating
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