5 Calibration information5.1. Introduction1593HAC022031-001 Revision: C© Copyright 2004-2008 ABB. All rights reserved.5 Calibration information5.1. IntroductionGeneralThis chapter includes general information about different calibration methods and also detailsprocedures that do not require specific calibration equipment.When the robot system must be recalibrated, it is done according to documentation enclosedwith the calibration tools.When to calibrateThe system must be calibrated if any of the below occurs.The resolver values are changedIf resolver values are changed, the robot must be recalibrated using the calibration methodssupplied from ABB. Calibrate the robot carefully with standard calibration. The differentmethods are briefly described in section Calibration methods on page 160, and furtherdetailed in separate Calibration manuals.If the robot has Absolute Accuracy calibration, it is also recommended but not always neededto be calibrated for new Absolute Accuracy.The resolver values will change when parts affecting the calibration position are replaced onthe robot, for example motors, or parts of transmission.Contents of the revolution counter memory are lostIf the contents of the revolution counter memory are lost, the counters must be updated asdetailed in section Updating revolution counters on page 164. This will occur when:• the battery is discharged• a resolver error occurs• the signal between a resolver and measurement board is interrupted• a robot axis is moved with the control system disconnectedThe revolution counters must also be updated after the robot and controller are connected atthe first installation.The robot is rebuiltIf the robot is rebuilt, for example after a crash or when the robot is changed for otherreachability, it needs to be recalibrated for new resolver values.If the robot has Abslolute Accuracy calibration, it needs to be calibrated for new AbsoluteAccuracy.
