Calibration; Calibration Method And When To Calibrate - ABB CRB 15000 Product Manual

6 Calibration

6.1 Calibration method and when to calibrate

Calibration method
The CRB 15000 torque sensors are calibrated with the routine TorqueSensorCal
which is available in the System Module TorqueSensorCalib. No external calibration
tools are required.
The calibration method for the robot consists of calibrating the motor torque
sensors, which are installed to monitor and measure the motor torque.
When to calibrate
The torque sensor in an axis motor must be calibrated if any of the following
situations occur:
No calibration is needed at site at robot installation.
The torque sensor routine only works on floor mounted robots.
Product manual - CRB 15000
3HAC077389-001 Revision: E
• A drift in the sensor values has occurred.
This is shown on the FlexPendant as error code 90549 Torque sensor check
failure or 34334 Arm side torque sensor error.
• A joint unit has been replaced.
• Repair work that involves removal and refitting of the joint units, has been
performed.
Tip
When designing the robot cell, run the torque sensor routine in RobotStudio to
verify that the path and pose are obtainable in the planned design.
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6.1 Calibration method and when to calibrate
6 Calibration
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