ABB OmniCore IRB 6720 Product Manual

6 Calibration6.1 Introduction to calibration6.1.1 Introduction and calibration terminologyCalibration informationThis chapter includes general information about the recommended calibrationmethods and also the detailed procedures for updating the revolution counters,checking the calibration position etc.Detailed instructions of how to perform Axis Calibration are given on theFlexPendant during the calibration procedure. To prepare calibration with AxisCalibration method, see Calibrating with Axis Calibration method on page 593.Calibration terminologyDefinitionTermA collective term for several methods that might beavailable for calibrating the ABB robot. Each methodcontains calibration routines.Calibration methodKnown position of the complete robot where theangle of each axis can be checked against visualsynchronization marks.Synchronization positionKnown position of the complete robot that is usedfor calibration of the robot.Calibration positionA generic term for all calibration methods that aimto move the robot to calibration position.Standard calibrationA calibration routine that generates a new zero posi-tion of the robot.Fine calibrationA calibration routine that in the first step generatesa reference to current zero position of the robot. Thesame calibration routine can later on be used to re-calibrate the robot back to the same position as whenthe reference was stored.Reference calibrationThis routine is more flexible compared to fine calib-ration and is used when tools and process equipmentare installed.Requires that a reference is created before beingused for recalibrating the robot.Requires that the robot is dressed with the sametools and process equipment during calibration asduring creation of the reference values.A calibration routine to make a rough calibration ofeach manipulator axis.Update revolution counterVisual marks on the robot axes. When marks arealigned, the robot is in synchronization position.Synchronization markProduct manual - IRB 6720 5853HAC085697-001 Revision: C© Copyright 2023 ABB. All rights reserved.6 Calibration6.1.1 Introduction and calibration terminology