Preparation Of Reference Surface At Tool - ABB S4Cplus Instruction

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In order to perform Reference Calibration the robot needs to be prepared with a reference
surface (adapter) for fitting the calibration pendulum housing on the tool.
This section details how to prepare the reference surface.
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The reference adapter should be permanently fitted and never removed after obtaining the
reference values. If the reference surface is temporary, it is critical to be able to refit the
adapter with high accuracy once its going to be used for calibration after service. The
inaccurancy of refitting the adapter will have negative impact on the calibration procedure.
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Prepare the reference surface in the same way for hanging robots as for floor mounted. The
reference sensor will be upside down and all the measurements are taken upside down.
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Reference adapter
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The procedure below details how to prepare the reference surface for the reference sensor.
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1.
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In order to achieve high accuracy, the
reference surface should be fitted
permanently to the robot. Any removal and
refitting once the reference values are defined
increases inaccuracy and has a negative
impact on the calibration performance!
2. Choose an appropriate location for the
reference surface on the tool.
3. Use the UHIHUHQFH DGDSWHU as a drilling pattern
and mark where to drill the four holes on the
chosen mounting location.
4. Drill the two holes matching the M8 screws to
a depth of 10 mm.
Cut the thread M8.

3.3.2. Preparation of reference surface at tool

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The mounting location must be:
• horizontal ± 5º, when robot is
standing in calibration position.
• perpendicular to the tool flange
surface ± 5º (to be mounted in
one of four directions, in steps
of 90º).
Art. no. is specified in
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