5.2 Calibration methodsOverviewThis section specifies the different types of calibration and the calibration methodsthat are supplied by ABB.Types of calibrationCalibration methodDescriptionType of calibrationCalibration PendulumThe calibrated robot is positioned at calibrationposition.Standard calibrationLevelmeter calibration(alternative method)Standard calibration data is found on the SMB(serial measurement board) or EIB in the robot.For robots with RobotWare 5.04 or older, thecalibration data is delivered in a file, calib.cfg,supplied with the robot at delivery. The fileidentifies the correct resolver/motor positioncorresponding to the robot home position.CalibWareBased on standard calibration, and besidespositioning the robot at synchronization posi-tion, the Absolute accuracy calibration alsocompensates for:• Mechanical tolerances in the robotstructure• Deflection due to loadAbsolute accuracy calibration focuses on pos-itioning accuracy in the Cartesian coordinatesystem for the robot.Absolute accuracycalibration (option-al)Absolute accuracy calibration data is foundon the SMB (serial measurement board) in therobot.For robots with RobotWare 5.05 or older, theabsolute accuracy calibration data is deliveredin a file, absacc.cfg, supplied with the robot atdelivery. The file replaces the calib.cfg file andidentifies motor positions as well as absoluteaccuracy compensation parameters.A robot calibrated with absolute accuracy hasa sticker next to the identification plate of therobot.To regain 100% absolute accuracy perform-ance, the robot must be recalibrated for abso-lute accuracy!xx0400001197Brief description of calibration methodsCalibration Pendulum methodCalibration Pendulum is a standard calibration method for calibration of all ABBrobots (except IRB 6400R, IRB 640, IRB 1400H, and IRB 4400S).Continues on next page206 Product manual - IRB 24003HAC022031-001 Revision: P© Copyright 2004-2018 ABB. All rights reserved.5 Calibration information5.2 Calibration methods
