1.4 Calibration and references
1.4.1 Calibration methods
Overview
This section specifies the different types of calibration and the calibration methods
that are supplied by ABB.
More information is available in the product manual.
Types of calibration
Calibration method
Description
Type of calibration
Axis Calibration or Cal-
ibration Pendulum
i
The calibrated robot is positioned at calibration
position.
Standard calibration data is found on the SMB
(serial measurement board) or EIB in the robot.
Standard calibration
CalibWare
Based on standard calibration, and besides
positioning the robot at synchronization posi-
tion, the Absolute accuracy calibration also
compensates for:
•
Mechanical tolerances in the robot
structure
•
Deflection due to load
Absolute accuracy calibration focuses on pos-
itioning accuracy in the Cartesian coordinate
system for the robot.
Absolute accuracy
calibration (option-
al)
Absolute accuracy calibration data is found
on the serial measurement board (SMB) or
other robot memory.
A robot calibrated with Absolute accuracy has
the option information printed on its name
plate (OmniCore).
To regain 100% Absolute accuracy perform-
ance, the robot must be recalibrated for abso-
lute accuracy after repair or maintenance that
affects the mechanical structure.
Wrist Optimization
Optimization of TCP reorientation perform-
ance. The purpose is to improve reorientation
accuracy for continuous processes like weld-
ing and gluing.
Optimization
Wrist optimization will update standard calib-
ration data for axes 4 and 5.
Note
For advanced users, it is also possible to use
the do the wrist optimization using the RAPID
instruction
WristOpt
, see
Technical reference
manual - RAPID Instructions, Functions and
Data types
.
This instruction is only available for OmniCore
robots.
i
The robot is calibrated by either Calibration Pendulum or Axis Calibration at factory. Always use
the same calibration method as used at the factory.
Information about valid calibration method is found on the calibration label or in the calibration
menu on the FlexPendant.
Continues on next page
Product specification - IRB 6660
25
3HAC087212-001 Revision: A
© Copyright 2004-2023 ABB. All rights reserved.
1 Description
1.4.1 Calibration methods
Summary of Contents for IRB 6660
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