5.2 Calibration methodOverviewThis section specifies the different types of calibration and the calibration methodsthat are supplied by ABB.Types of calibrationCalibration methodDescriptionType ofcalibrationCalibration by handwith activated brakerelease, using the calib-ration marks.Standard calibration is performed if resolvervalues are changed or the robot is rebuilt (seeWhen to calibrate on page 237).The robot is positioned at calibration position,that is when the positions of the axes 1-3(angles) are set to parameter values found inCalibration Position, see type Arm, topic Mo-tion in Technical reference manual - Systemparameters.Standard calibrationStandard calibration data is found on the SMB(serial measurement board) in the robot.For robots with RobotWare 5.04 or older, thecalibration data is delivered in a file, calib.cfg,supplied with the robot at delivery. The fileidentifies the correct resolver/motor positioncorresponding to the robot home position.Ring calibrationA factory reset (calibration with a calibrationring) can be performed after a gearbox or anupper arm has been replaced to ensure en-hanced robot arm accuracy than when perform-ing standard calibration. Factory reset altersthe robot's unique production settings for axis1-3.Factory resetTo perform ring calibration, the parallel armsmust first be removed from the robot. The up-per arms must then be positioned verticallyso that the calibration ring can be fitted tothem.Making a factory reset with the calibration ringrequires specific calibration equipment andsoftware, and is performed by ABB. Pleasecontact ABB.The parameter Calibration Position (cal_posi-tion) is set at the ABB factory, and is a robotspecific parameter. For more information aboutparameter Calibration Position, see topic Mo-tion, type Arm in Technical reference manu-al - System parameters.Calibration methodsThe calibration method for the IRB 360 is different from other robots, and normalcalibration methods are not applicable.Calibration by handStandard calibration is detailed in section Calibrating axis 1-3 on page 242.Continues on next page238 Product manual - IRB 3603HAC030005-001 Revision: U© Copyright 2008-2018 ABB. All rights reserved.5 Calibration information5.2 Calibration method
