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1.4 Calibration and references
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
Absolute accuracy
calibration (option-
al)
i
Brief description of calibration methods
Axis Calibration method
Axis Calibration is a standard calibration method for calibration of IRB 920 and is
the most accurate method for the standard calibration. 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.
Product specification - IRB 920
3HAC075723-001 Revision: A
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.
Based on standard calibration, and besides
positioning the robot at synchronization posi-
tion, the Absolute accuracy calibration also
compensates for:
•
Mechanical tolerances in the robot
structure
•
Deflection due to load
Absolute accuracy calibration focuses on pos-
itioning accuracy in the Cartesian coordinate
system for the robot.
Absolute accuracy calibration data is found
on the SMB (serial measurement board) in the
robot.
A robot calibrated with Absolute accuracy has
the option information printed on its name
plate.
To regain 100% Absolute accuracy perform-
ance, the robot must be recalibrated for abso-
lute accuracy after repair or maintenance that
affects the mechanical structure.
Only axes 1 and 2 can be calibrated using Axis Calibration method.
•
Fine calibration
•
Update revolution counters
•
Reference calibration
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1 Description
1.4.1 Calibration methods
Calibration method
i
Axis Calibration
CalibWare
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