ABB IRB 6600 - 175/2.55 User Manual page 380

10 Calibration
10.1.3 Calibration, prerequisites
10.1.3 Calibration, prerequisites
General
The calibration procedure may be described as comparing the direction of two sensors, the
reference sensor and the calibration sensor, while running the robot to its calibration position,
thus reducing the sensor difference to close to zero.
All article numbers of relevant equipment are specified in their instructions respectively.
Peripheral equip-
The robot must be free from any peripheral equipment during calibration. Fitted welding guns
ment
and similar will cause erroneous calibration positions.
Calibration order The axes must be adjusted in increasing sequence, i.e. 1 - 2 - 3 - 4 - 5 - 6.
Calibration move- When calibrating, the axis must consistently be run towards the calibration position in the
ment direction
same direction, in order to avoid position errors caused by backlash in gears etc. Positive
directions are shown in the figure below.
This is normally handled by the robot calibration software.
NOTE The figure shows an IRB 7600, but the positive direction is the same for all robots!
xx0200000089
Location of sen-
The positions where the calibration sensor and reference sensor should be fitted during cali-
sors
bration, are specified in Calibration sensor mounting positions on page 188.
Location of cali- Where to find the calibration sensor and reference sensor respectively during calibration in
bration marks/
Calibration scales on page 194.
plates
178
6+ 4+
A
3+
2+
1+
3HAC 16245-1