5 Calibration5.1 IntroductionGeneralThis chapter includes general information about the different calibration methodsand also the detailed procedures that do not require specific calibration equipment.When the robot system must be recalibrated, it is done according to thedocumentation enclosed with the calibration tools.When to calibrateThe system must be calibrated if any of the following situations occur.The resolver values are changedIf resolver values are changed, the robot must be recalibrated using the calibrationmethods supplied by ABB. Calibrate the robot carefully with standard calibration.The different methods are briefly described in the section Calibration methods onpage 320 , and further detailed in separate calibration manuals.If the robot has absolute accuracy calibration, it is also recommended, but notalways necessary to calibrate for new absolute accuracy.The resolver values will change when parts affecting the calibration position arereplaced on the robot, for example motors or parts of the transmission.The revolution counter memory is lostIf the revolution counter memory is lost, the counters must be updated. SeeUpdating revolution counters on page 326. 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 areconnected at the first installation.The robot is rebuiltIf the robot is rebuilt, for example, after a crash or when the reach ability of a robotis changed, it needs to be recalibrated for new resolver values.If the robot has absolute accuracy calibration, it needs to be calibrated for newabsolute accuracy.3HAC033453-001 Revision: H 319© Copyright 2009-2013 ABB. All rights reserved.5 Calibration5.1 Introduction
