1.4.3 Absolute Accuracy calibration
Purpose
Absolute Accuracy
is a calibration concept that improves TCP accuracy. The
difference between an ideal robot and a real robot can be several millimeters,
resulting from mechanical tolerances and deflection in the robot structure.
Absolute
Accuracy
compensates for these differences.
Here are some examples of when this accuracy is important:
•
Exchangeability of robots
•
Offline programming with no or minimum touch-up
•
Online programming with accurate movement and reorientation of tool
•
Programming with accurate offset movement in relation to eg. vision system
or offset programming
•
Re-use of programs between applications
The option
Absolute Accuracy
is integrated in the controller algorithms and does
not need external equipment or calculation.
Note
The performance data is applicable to the corresponding RobotWare version of
the individual robot.
What is included
Every
Absolute Accuracy
robot is delivered with:
•
compensation parameters saved in the robot memory
•
a birth certificate representing the
Absolute Accuracy
measurement protocol
for the calibration and verification sequence.
A robot with
Absolute Accuracy
calibration has a label with this information on the
manipulator.
Absolute Accuracy supports floor mounted, wall mounted, and ceiling mounted
installations. The compensation parameters that are saved in the robot memory
differ depending on which Absolute Accuracy option is selected.
When is
Absolute Accuracy
being used
Absolute Accuracy works on a robot target in Cartesian coordinates, not on the
individual joints. Therefore, joint based movements (e.g.
MoveAbsJ
) will not be
affected.
If the robot is inverted, the Absolute Accuracy calibration must be performed when
the robot is inverted.
Absolute Accuracy active
Absolute Accuracy will be active in the following cases:
•
Any motion function based on robtargets (e.g.
MoveL
) and ModPos on
robtargets
•
Reorientation jogging
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Product specification - IRB 6660
3HAC087212-001 Revision: A
© Copyright 2004-2023 ABB. All rights reserved.
1 Description
1.4.3 Absolute Accuracy calibration
Summary of Contents for IRB 6660
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