Absolute Accuracy Calibration - ABB IRB 6660 Product Specification

1 Description

1.4.3 Absolute Accuracy calibration

1.4.3 Absolute Accuracy calibration
Purpose
Absolute Accuracy is a calibration concept that improves TCP accuracy. The
difference between an ideal robot and a real robot can be several millimeters,
resulting from mechanical tolerances and deflection in the robot structure. Absolute
Accuracy compensates for these differences.
Here are some examples of when this accuracy is important:
The option Absolute Accuracy is integrated in the controller algorithms and does
not need external equipment or calculation.
What is included
Every Absolute Accuracy robot is delivered with:
A robot with Absolute Accuracy calibration has a label with this information on the
manipulator.
Absolute Accuracy supports floor mounted, wall mounted, and ceiling mounted
installations. The compensation parameters that are saved in the robot memory
differ depending on which Absolute Accuracy option is selected.
When is Absolute Accuracy being used
Absolute Accuracy works on a robot target in Cartesian coordinates, not on the
individual joints. Therefore, joint based movements (e.g. MoveAbsJ) will not be
affected.
If the robot is inverted, the Absolute Accuracy calibration must be performed when
the robot is inverted.
Absolute Accuracy active
Absolute Accuracy will be active in the following cases:
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• Exchangeability of robots
• Offline programming with no or minimum touch-up
• Online programming with accurate movement and reorientation of tool
• Programming with accurate offset movement in relation to eg. vision system
or offset programming
• Re-use of programs between applications
Note
The performance data is applicable to the corresponding RobotWare version of
the individual robot.
• compensation parameters saved in the robot memory
• a birth certificate representing the Absolute Accuracy measurement protocol
for the calibration and verification sequence.
• Any motion function based on robtargets (e.g. MoveL) and ModPos on
robtargets
• Reorientation jogging
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Product specification - IRB 6660
3HAC087212-001 Revision: A