ABB OmniCore IRB 6720 Product Manual

6.1.2 Calibration methodsOverviewThis section specifies the different types of calibration and the calibration methodsthat are supplied by ABB.Types of calibrationCalibration methodDescriptionType of calibrationAxis CalibrationThe calibrated robot is positioned at calibrationposition.Standard calibrationStandard calibration data is found on the SMB(serial measurement board) or EIB in the robot.CalibWareBased on standard calibration, and besidespositioning the robot at synchronization posi-tion, the Absolute accuracy calibration alsocompensates 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 serial measurement board (SMB) orother robot memory.A robot calibrated with Absolute accuracy hasthe option information printed on its nameplate (OmniCore).To regain 100% Absolute accuracy perform-ance, the robot must be recalibrated for abso-lute accuracy after repair or maintenance thataffects the mechanical structure.Brief description of calibration methodsAxis Calibration methodAxis Calibration is a standard calibration method for calibration of IRB 6720. 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.An introduction to the calibration method is given in this manual, see Calibratingwith Axis Calibration method on page 593.The actual instructions of how to perform the calibration procedure and what todo at each step is given on the FlexPendant. You will be guided through thecalibration procedure, step by step.Continues on next page586 Product manual - IRB 67203HAC085697-001 Revision: C© Copyright 2023 ABB. All rights reserved.6 Calibration6.1.2 Calibration methods