Calibration Methods - ABB IRB 8700 Series Product Manual

5 Calibration

5.1.2 Calibration methods

5.1.2 Calibration methods
Overview
This section specifies the different types of calibration and the calibration methods
that are supplied by ABB.
Types of calibration
Type of calibration
Standard calibration
Absolute accuracy
calibration (option-
al)
Brief description of calibration methods
Axis Calibration method
Axis Calibration is a standard calibration method for calibration of IRB 8700 and
is the most accurate method for the standard calibration. It is the recommended
method in order to achieve proper performance.
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Description
The calibrated robot is positioned at calibration
position.
Standard calibration data is found on the SMB
(serial measurement board) or EIB in the robot.
For robots with RobotWare 5.04 or older, the
calibration data is delivered in a file, calib.cfg,
supplied with the robot at delivery. The file
identifies the correct resolver/motor position
corresponding to the robot home position.
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 data is found
on the SMB (serial measurement board) in the
robot.
For robots with RobotWare 5.05 or older, the
absolute accuracy calibration data is delivered
in a file, absacc.cfg, supplied with the robot at
delivery. The file replaces the calib.cfg file and
identifies motor positions as well as absolute
accuracy compensation parameters.
A robot calibrated with absolute accuracy has
a sticker next to the identification plate of the
robot.
To regain 100% absolute accuracy perform-
ance, the robot must be recalibrated for abso-
lute accuracy!
xx0400001197
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Calibration method
Axis Calibration
CalibWare
Product manual - IRB 8700
3HAC052853-001 Revision: F