ABB OmniCore IRB 6740 Product Manual

Routines in the calibration procedureThe following routines are available in the Axis Calibration procedure, given at thebeginning of the procedure on the FlexPendant.Fine calibration routineChoose this routine to calibrate the robot when there are no tools, process cablingor equipment fitted to the robot.Reference calibration routineChoose this routine to create reference values and to calibrate the robot when therobot is dressed with tools, process cabling or other equipment.NoteWhen calibrating the robot with the reference calibration routine, the robot mustbe dressed with the same tools, process cabling and any other equipment aswhen the reference values were created.NoteWhen using reference calibration with some tools, typically large or flexible tools,oscillations in the robot can cause issues leading to failure of the calibration.If calibrating the robot with reference calibration there must be reference valuescreated before repair is made to the robot, if values are not already available.Creating new values requires possibility to move the robot. The reference valuescontain positions of all axes, torque of axes and technical data about the toolinstalled. A benefit with reference calibration is that the current state of the robotis stored and not the state when the robot left the ABB factory. The reference valuewill be named according to tool name, date etc.Follow the instructions given in the reference calibration routine on the FlexPendantto create reference values.When reference calibration is performed, the robot is restored to the status givenby the reference values.Update revolution countersChoose this routine to make a rough calibration of each manipulator axis byupdating the revolution counter for each axis, using the FlexPendant.ValidationIn the mentioned routines, it is also possible to validate the calibration data.Position of robot axesThe robot axes should be positioned close to 0 degrees before commencing thecalibration program. The axis chosen for calibration is then automatically run bythe calibration program to its exact calibration position during the calibrationprocedure.It is possible to position some of the other axes in positions different from 0 degrees.Information about which axes are allowed to be jogged is given on the FlexPendant.Continues on next pageProduct manual - IRB 6740 6193HAC085701-001 Revision: A© Copyright 2023 ABB. All rights reserved.6 Calibration6.4.1 Description of Axis CalibrationContinued