Calibration Methods - ABB IRB 910INV Product Manual

6 Calibration

6.1.2 Calibration methods

6.1.2 Calibration methods
Overview
This section specifies the different types of calibration and the calibration methods
that are supplied by ABB.
Types of calibration
Type of calibration
Standard calibration
Absolute accuracy
calibration (option-
al)
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Brief description of calibration methods
Axis Calibration method
Axis Calibration is a standard calibration method for calibration of IRB 910INV. 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.
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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.
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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Calibration method
Axis Calibration
CalibWare
797.
Product manual - IRB 910INV
3HAC068055-001 Revision: K
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Calibrating