Calibration, All Axes, Calpend - ABB S4Cplus Instruction

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3.2.3. Calibration, all axes, CalPend

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This section details how to perform the actual fine calibration of each axis using the
calibration pendulum tools, specified in section
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The positions where to fit the calibration pendulum (sensor) differ between different models
and different axes. The positions are shown in
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The axes must be calibrated in increasing sequence, i.e. 1 - 2 - 3 - 4 - 5 - 6.
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The procedure below details how to fine calibrate the robot with calibration pendulum.
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1. Prepare the robot calibration as detailed
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in section
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2. Jog the robot axes to be calibrated to a
position close to the correct calibration
position.
3. Make a rough calibration.
4. 9DOLG IRU D[LV  RQO\
Fit the ORFDWLQJ SLQ to the robot base.
Make sure the attachment surface is
clean and free from any nicks or burrs.
5. Start the calibration service routine from
the teach pendant unit, and follow the
instructions given, including fitting the
calibration sensor when requested.
1RWH After fitting the sensor on the robot
as specified on the teach pendant unit,
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Make sure nobody is within the working
range of the robot!
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Use the calibration scales fitted to each robot
axis to locate this position, shown in section
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Detailed in section
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Shown in section
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The mounting positions for the reference
sensor and calibration sensor respectively,
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are shown in
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1RWH No additional tool is required for fitting
the calibration pendulum for axes 1-3!
Fitting the pendulum to the turning disk
requires an adapter (included in the complete
set). Notice that there are two adapters!
Article numbers are specified in section
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How to handle the calibration program prior to
the actual calibration of each axis is detailed in
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sections
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3HAC 16578-1 Revision: E