5.2 Calibration methodsOverviewThis section specifies the different types of calibration and the calibration methodsthat are supplied by ABB.Types of calibrationCalibration methodDescriptionType ofcalibrationCalibration Pendulum(standard method)The calibrated robot is positioned at homeposition, that is when the positions of the axes(angles) are set to 0º.Standard calibrationorStandard calibration data is found on the SMB(serial measurement board) in the robot. Levelmeter calibration(alternative method)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.CalibWareBased on standard calibration, and besidespositioning the robot at home position, theAbsolute accuracy calibration also com-pensates for:• Mechanical tolerances in the robotstructure• Deflection due to loadAbsolute accuracy calibration focuses on pos-itioning accuracy in the Cartesian coordinatesystem for the robot.Absolute accuracycalibration (option-al)Absolute accuracy calibration data is foundon the SMB (serial measurement board) in therobot.For robots with RobotWare 5.05 or older, theabsolute accuracy calibration data is deliveredin a file, absacc.cfg, supplied with the robot atdelivery. The file replaces the calib.cfg file andidentifies motor positions as well as absoluteaccuracy compensation parameters.A robot calibrated with absolute accuracy hasa sticker next to the identification plate of therobot.To regain 100% absolute accuracy perform-ance, the robot must be recalibrated for abso-lute accuracy!xx0400001197Continues on next page320 3HAC033453-001 Revision: H© Copyright 2009-2013 ABB. All rights reserved.5 Calibration5.2 Calibration methods
