4 After calibration
4.2. Post calibration procedure
3HAC 022907-001 Revision: -78
4.2. Post calibration procedure
General
Perform the following procedure after calibrating any robot axis. The procedure is intended
to verify that all calibration positions are correct.
Checking the calibration
Step Action Note
1. Run the calibration home position program twice.
Do not change the position of the robot axes after
running the program!
Detailed in section Checking
the calibration position on
page 23.
2. Check the calibration positions with help of the
sensors as described earlier for each axis.
IRB 6600, IRB 6650, IRB 6650S and IRB 7600:
Check the calibration positions of all axes. The
acceptable tolerances are:
• axes 2-3: ±0.20 mm/m
• axes 4-6: ±0.40 mm/m
IRB 140, IRB 1400, IRB 4400, IRB 6400R: Check the
calibration positions of axes 2, 5 and 6. If axes 5 and
6 are within the tolerances given below, then axes 3
and 4 do not need to be checked. The acceptable
accuracy is:
• IRB 4400, IRB 6400R: axes 2-3: ±0.20 mm/m
• IRB 4400, IRB 6400R: axes 4-6: ±0.40 mm/m
• IRB 140, IRB 1400: axes 2-3: ±0.40 mm/m
• IRB 140, IRB 1400: axes 4-6: ±0.80 mm/m.
If the axes are outside the tolerance, start the
calibration procedure from the beginning, in
increasing sequence of the axes.
3. Repeat the check as above.
4. Adjust the calibration marks when the calibration is
done, if necessary.
Shown in section Calibration
scales and correct axis
position on page 16.
5. The system parameters will be saved to the storage
memory at power off.
6. Change the values on a new label and stick it on top
of the label located:
• IRB 140, IRB 6600, IRB 6650, IRB 6650S, IRB
7600, IRB 6400R: on the lower arm.
• IRB 1400, IRB 2400, IRB 4400: underneath
the flange plate on the base.
7. Remove any calibration equipment from the robot.
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