Description Of Axis Calibration - ABB IRT 710 Product Manual

6 Calibration

6.4.1 Description of Axis Calibration

6.4.1 Description of Axis Calibration
Instructions for Axis Calibration procedure given on the FlexPendant
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.
This manual contains a brief description of the method, additional information to
the information given on the FlexPendant, article number for the tools and images
of where to fit the calibration tools on the robot.
Overview of the Axis Calibration procedure
The Axis Calibration procedure applies to all axes, and is performed on one carriage
at the time. The carriages are both manually and automatically moved into position,
as instructed on the FlexPendant.
Bushings are installed on each calibration position at delivery, for installation of
the calibration tools.
The Axis Calibration procedure described roughly:
Continues on next page
346
1 A removable calibration tool is inserted by the operator into a calibration
bushing on the axis chosen for calibration, according to instructions on the
FlexPendant.
WARNING
Calibrating the track with Axis Calibration requires special calibration tools
from ABB. Using other pins in the calibration bushings may cause severe
damage to the robot and/or personnel.
WARNING
The calibration tool must be fully inserted into the calibration bushing, until
the steel spring ring snaps into place.
2 During the calibration procedure, RobotWare moves the carriage chosen for
calibration so that the calibration tools get into contact. RobotWare records
values of the calibration position and repeats the coming-in-contact procedure
several times to get an exact value of the axis position.
WARNING
Risk of pinching! The contact force for large robots can be up to 150 kg.
Keep a safe distance to the robot.
3 The axis position is stored in RobotWare with an active choice from the
operator.
© Copyright 2023 ABB. All rights reserved.
Product manual - IRT 710
3HKA00000186299-001 Revision: B