ABB CRB 15000 Product Manual page 1052

6 Calibration
6.1 Calibration methods
Continued
No calibration is needed at site at robot installation.
The torque sensor routine only works on floor mounted robots.
Wrist Optimization method
Wrist Optimization is a method for improving reorientation accuracy for continuous
processes like welding and gluing.
The actual instructions of how to perform the wrist optimization procedure is given
on the FlexPendant.
CalibWare - Absolute Accuracy calibration
The CalibWare tool guides through the calibration process and calculates new
compensation parameters. This is further detailed in the Application
manual - CalibWare Field.
If a service operation is done to a robot with the option Absolute Accuracy, a new
absolute accuracy calibration is required in order to establish full performance.
For most cases after replacements that do not include taking apart the robot
structure, standard calibration is sufficient.
The Absolute Accuracy option varies according to the robot mounting position.
This is printed on the robot name plate for each robot. The robot must be in the
correct mounting position when it is recalibrated for absolute accuracy.
References
Article numbers for the calibration tools are listed in the section
page
1052
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.
• After heavy collisions or uncontrolled stops. This does not apply to collisions
or stops which may routinely be experienced as part of a power and force
limiting application.
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.
1088.
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Product manual - CRB 15000
3HAC077389-001 Revision: L