5.4 Calibrating with Axis Calibration method5.4.1 Description of Axis CalibrationInstructions for Axis Calibration procedure given on the FlexPendantThe actual instructions of how to perform the calibration procedure and what todo at each step is given on the FlexPendant. You will be guided through thecalibration procedure, step by step.This manual contains a brief description of the method, additional information tothe information given on the FlexPendant, article number for the tools and imagesof where to fit the calibration tools on the robot.Overview of the Axis Calibration procedureThe Axis Calibration procedure applies to all axes, and is performed on one axisat the time. The robot axes are both manually and automatically moved into position,as instructed on the FlexPendant.A fixed calibration pin/bushing is installed on each robot axis at delivery.The Axis Calibration procedure described roughly:• The calibration tool/element is prepared by the operator. Any protectionneeds to be removed prior to starting calibration.• During the calibration procedure, RobotWare moves the robot axis chosenfor calibration so that the calibration tools get into contact. RobotWare recordsvalues of the axis position and repeats the coming-in-contact procedureseveral times to get an exact value of the axis position.WARNINGRisk of pinching! The contact force for large robots can be up to 150 kg.Keep a safe distance to the robot.• The axis position is stored in RobotWare with an active choice from theoperator.Routines in the calibration procedureThe following routines are available in the Axis Calibration procedure, given at thebeginning of the procedure on the FlexPendant.Fine calibration routineChoose this routine to calibrate the robot when there are no tools, process cablingor equipment fitted to the robot.Update revolution countersChoose this routine to make a rough calibration of each manipulator axis byupdating the revolution counter for each axis, using the FlexPendant.ValidationIn the mentioned routines, it is also possible to validate the calibration data.Continues on next pageProduct manual - IRB 120 2353HAC035728-001 Revision: N© Copyright 2009-2017 ABB. All rights reserved.5 Calibration5.4.1 Description of Axis Calibration
