5.1.2 Calibration methodsOverviewThis section specifies the different types of calibration and the calibration methodsthat are supplied by ABB.Types of calibrationCalibration methodDescriptionType of calibrationAxis Calibration or Cal-ibration Pendulum iThe calibrated robot is positioned at calibrationposition.Standard calibration data is found on the SMB(serial measurement board) or EIB in the robot.Standard calibrationFor 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!xx0400001197i The robot is calibrated by either Calibration Pendulum or Axis Calibration at factory. Always usethe same calibration method as used at the factory.Information about valid calibration method is found on the calibration label or in the calibrationmenu on the FlexPendant.If no data is found related to standard calibration, Calibration Pendulum is used as default.Continues on next page354 Product manual - IRB 4600 Foundry Prime3HAC040585-001 Revision: M© Copyright 2013-2018 ABB. All rights reserved.5 Calibration5.1.2 Calibration methods
