6 Calibration information6.0.2 Calibration methods132 3HAC021111-001 Revision: B6.0.2 Calibration methodsOverview This section specifies the different types of calibration and the calibration methods that aresupplied from ABB.Types of cali-brationType ofcalibration Description Calibration methodStandard calibra-tionThe calibrated robot is positioned at homeposition, i.e. the axes positions (angles) areset to 0º.Standard calibration data is found in the filecalib.cfg, supplied with the robot at delivery.The file identifies the correct resolver/motorposition corresponding to the robot home posi-tion.From deliveries together with RobotWare 5.0.5and higher, the data will instead be found onthe SMB (serial measurement board) in therobot, and not in a separate file.Calibration Pendulum(standard method)orLevelmeter calibration(alternative method)Absolute Accuracycalibration(optional)Based on standard calibration, and besidespositioning the robot at home position, theAbsolute Accuracy calibration also compen-sates for:mechanical tolerances in the robot structuredeflection due to load.Absolute Accuracy calibration focuses onpositioning accuracy in the Cartesian coordi-nate system for the robot.Absolute Accuracy data is found in the fileabsacc.cfg, supplied with the robot at delivery.The file replaces the calib.cfg file and identifiesmotor positions as well as absacc-compensa-tion parameters.From deliveries together with RobotWare 5.0.6and higher, the data will instead be found onthe SMB (serial measurement board) in therobot, and not in a separate file.A robot calibrated with AbsAcc has a stickernext to the identification plate of the robot.To regain 100% Absolute Accuracy perfor-mance, the robot must be recalibrated forAbsolute Accuracy!xx0400001197CalibWare
