Calibration; Calibration Methods - ABB CRB 15000 Product Manual

6 Calibration

6.1 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
Absolute accuracy
calibration (option-
al)
Torque sensor calib-
ration
Optimization
Brief description of calibration methods
Torque sensor calibration
The torque sensor in an axis motor must be calibrated if any of the following
situations occur:
Product manual - CRB 15000
3HAC077389-001 Revision: L
Description
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 serial measurement board (SMB) or
other robot memory.
A robot calibrated with Absolute accuracy has
the option information printed on its name
plate (OmniCore).
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.
The CRB 15000 torque sensors are calibrated
with the routine TorqueSensorCal which is
available in the System Module TorqueSensor-
Calib. No external calibration tools are re-
quired.
The calibration method for the robot consists
of calibrating the motor torque sensors, which
are installed to monitor and measure the motor
torque.
Optimization of TCP reorientation perform-
ance. The purpose is to improve reorientation
accuracy for continuous processes like weld-
ing and gluing.
Wrist optimization will update standard calib-
ration data for axes 4 and 5.
• A drift in the sensor values has occurred.
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6 Calibration
6.1 Calibration methods
Calibration method
CalibWare
Torque sensor calibra-
tion
Wrist Optimization
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