ABB OmniCore IRB 6720 Product Manual

6.4.5 Reference calibrationBrief introduction to Reference CalibrationReference calibration is a faster method compared to Fine calibration, as it refersto a previously made calibration.1 Create a backup of the current robot system.2 Check that the active calibration offset values corresponds to the values onthe calibration label (located on the lower arm or the base).3 Jog the manipulator so that all axes are in zero position (ex use MoveAbsJinstruction). Check that all axis scales are aligned with calibration marks.4 If the scales differ from calibration marks it might depend on wrong turns ofthe revolution counters. Make a marker line on the corresponding axis to beable to validate the result of the calibration. If more than one motor revolutionsare wrong, the calibration will fail.5 Use a verification position. This is especially recommended if all axes werenot aligned with the synchronization marks (step 3). Reuse an existingposition that is suitable and accurate so it can be used to validate the repair.Use a position where a deviation in axis calibration gives a big deviation inpositioning. Note! Check the position after each repair in one axis.6 Use Reference calibration to save reference values for all axes that is to bereplaced. Make sure that the values are saved in RobotStudio or FTP program.The files are located in "Active system folder name/HOME/RefCalibFiles".7 Perform the repair.8 Make sure that the tooling and process equipment are the same as whencreating the reference. Use Reference calibration to update the system withnew calibration offset value for the repaired axis.9 Check the position against the verification position (step 5).10 Proceed with the repair of the next axis, if necessary, and repeat (step 8-9)for every axis.11 (For system containing SafeMove) Download new calibration values toSafeMove. Use Visual SafeMove in RobotStudio.12 (For system containing SafeMove) Synchronize SafeMove to activateSafeMove.13 Perform test run.14 Update the calibration label with new resolver values (calibration values).Manual tuning of calibration offsetManual tuning of calibration offset is normally not needed, but can be useful insome situations. The requirement to do manual tuning is that there is a knownaccurate position, that worked accurately before the repair (step 5, see Briefintroduction to Reference Calibration on page 604).Example "Adjust axis 4":1 Create a backup.Continues on next page604 Product manual - IRB 67203HAC085697-001 Revision: C© Copyright 2023 ABB. All rights reserved.6 Calibration6.4.5 Reference calibration