Calibrating The Robot - ABB CRB 15000 Product Manual

6 Calibration

6.2 Calibrating the robot

6.2 Calibrating the robot
Torque sensor calibration routine
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 torque sensor calibration routine checks and calibrates the
torque sensors of CRB 15000. This calibration routine must be run in manual
operating mode.
The torque sensor calibration routine checks and calibrates the torque sensors for
the CRB 15000.
The calibration routine must be run in manual operating mode.
Features in the routine
The routine for the torque sensor calibration includes three features:
I
Preparations before calibration
Remove any tools mounted on the robot, to get accurate torque offsets
measurements.
Running routine TorqueSensorCal
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.
After the calibration method has been called for on the FlexPendant, the following
sequence will be run.
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1 Compare the current torque sensor offsets with measured offsets, Torque
Sensor Check. This is useful for a quick test of the calibration.
2 Calibrate torque sensors when a sensor drift has occurred, Torque Sensor
I
Calib. This is useful, for example, if there are event log messages about a
sensor drift, of if there is a drift when using lead-through.
3 Calibrate torque sensors when a joint unit has been exchanged, Joint Unit
I
Replacement. This is useful also when a joint is removed as part of
replacing another part.
This feature includes the above features, that is, runs all of them.
This feature is only available when user authorization (UAS) is set with user grant Safety Services.
Note
If feature Joint Unit Replacement is to be run, put the controller in state Motors
OFF and then start the calibration from the FlexPendant.
After the initial steps, a controller restart is performed and then the routine needs
to be restarted again. After restart, go to Motors ON state and continue.
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Product manual - CRB 15000
3HAC077389-001 Revision: E