ABB IRB 660 Product Specification

Also see for IRB 660: Operating manual Product manual Product manual

1.4 Calibration1.4.1 Calibration methodsOverviewThis section specifies the different types of calibration and the calibration methodsthat are supplied by ABB.More information is available in the product manual.Types of calibrationCalibration methodDescriptionType of calibrationAxis Calibration or Cal-ibration Pendulum iThe calibrated robot is positioned at calibrationposition.Standard calibration data is found on the SMB(serial measurement board) or EIB in the robot.Standard calibrationFor 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.i The robot is calibrated by either Calibration Pendulum or Axis Calibration at factory. Always usethe same calibration method as used at the factory.Information about valid calibration method is found on the calibration label or in the calibrationmenu on the FlexPendant.If no data is found related to standard calibration, contact the local ABB Service.Brief description of calibration methodsCalibration Pendulum methodCalibration Pendulum is a standard calibration method for calibration of many ofABB robots (except IRB 6400R, IRB 640, IRB 1400H, and IRB 4400S).Two different routines are available for the Calibration Pendulum method:• Calibration Pendulum II• Reference calibrationThe calibration equipment for Calibration Pendulum is delivered as a completetoolkit, including the Operating manual - Calibration Pendulum, which describesthe method and the different routines further.Axis Calibration methodAxis Calibration is a standard calibration method for calibration of IRB 660. It isthe recommended method in order to achieve proper performance.The following routines are available for the Axis Calibration method:• Fine calibration• Update revolution counters• Reference calibrationThe calibration equipment for Axis Calibration is delivered as a toolkit.Continues on next page28 Product specification - IRB 6603HAC023932-001 Revision: X© Copyright 2004-2021 ABB. All rights reserved.1 Description1.4.1 Calibration methods