ABB IRB 2400/16 User Manual

5.2 Calibration methods
Overview
This section specifies the different types of calibration and the calibration methods
that are supplied by ABB.
Types of calibration
Calibration methodDescriptionType of calibration
Calibration PendulumThe calibrated robot is positioned at calibration
position.
Standard calibration
Levelmeter calibration
(alternative method)Standard calibration data is found on the SMB
(serial measurement board) or EIB in the robot.
For robots with RobotWare 5.04 or older, the
calibration data is delivered in a file, calib.cfg,
supplied with the robot at delivery. The file
identifies the correct resolver/motor position
corresponding to the robot home position.
CalibWareBased on standard calibration, and besides
positioning the robot at synchronization posi-
tion, the Absolute accuracy calibration also
compensates for:
• Mechanical tolerances in the robot
structure
• Deflection due to load
Absolute accuracy calibration focuses on pos-
itioning accuracy in the Cartesian coordinate
system for the robot.
Absolute accuracy
calibration (option-
al)
Absolute accuracy calibration data is found
on the SMB (serial measurement board) in the
robot.
For robots with RobotWare 5.05 or older, the
absolute accuracy calibration data is delivered
in a file, absacc.cfg, supplied with the robot at
delivery. The file replaces the calib.cfg file and
identifies motor positions as well as absolute
accuracy compensation parameters.
A robot calibrated with absolute accuracy has
a sticker next to the identification plate of the
robot.
To regain 100% absolute accuracy perform-
ance, the robot must be recalibrated for abso-
lute accuracy!
xx0400001197
Brief description of calibration methods
Calibration Pendulum method
Calibration Pendulum is a standard calibration method for calibration of all ABB
robots (except IRB 6400R, IRB 640, IRB 1400H, and IRB 4400S).
Continues on next page
206 Product manual - IRB 2400
3HAC022031-001 Revision: P
© Copyright 2004-2018 ABB. All rights reserved.
5 Calibration information
5.2 Calibration methods

ABB IRB 2400/16 Specifications

General

Brand	ABB
Model	IRB 2400/16
Category	Robotics
Language	English

Summary

Overview of this manual

How to read the product manual

Explains how to interpret the manual's procedures, figures, and required equipment references.

Product documentation, M2000/M2000A

Details the complete product documentation kit for the M2000 robot system.

Product documentation, IRC5

Categorizes user documentation for ABB Robotics products, including product, technical reference, and application manuals.

Safety

General safety information

Covers limitations of liability and nation/region specific regulations for robot system safety.

Safety risks

Details risks during installation, service work, operational disturbances, and spare parts usage.

Safety signals and symbols

Explains danger levels, safety signals in manuals, and safety symbols used on product labels.

Installation and commissioning

Pre-installation procedure

Outlines steps for unpacking, checking prerequisites, and handling the robot before installation.

Working range

Specifies the working areas and positions of robot models IRB 2400/L and IRB 2400/10, /16.

Setting the system parameters for a suspended or tilted robot

Details how to configure system parameters like Gravity Beta and Gravity Alpha for non-standard mounting.

Electrical connections

Illustrates robot cabling and connection points, including main cable categories and robot cables.

Maintenance

Maintenance schedule

Lists required maintenance activities, intervals, and detailed sections for standard equipment.

Inspection activities

Describes procedures for inspecting information labels and signal lamps on the robot.

Cleaning activities

Provides guidance on cleaning the robot, including oil spills and specific cleaning methods based on protection type.

Service Information System, M2000

Explains how to use the Service Information System (SIS) for M2000 robot systems.

Repair

General procedures

Covers general repair procedures like leak-down tests and mounting instructions for bearings and seals.

Replacement of cable unit, axes 1-3

Details the procedure for removing and refitting the cable unit for robot axes 1-3.

Replacement of motors, axes 4-6, IRB 2400L

Provides instructions for replacing motors for axes 4-6 on IRB 2400L robots.

Replacement of gearbox, axis 1-3

Describes the process for replacing the gearbox unit for robot axes 1-3.

Calibration information

When to calibrate

Defines situations requiring robot system calibration, such as changed resolver values or lost revolution counter memory.

Calibration methods

Details different types of calibration, including standard, absolute accuracy, and alternative methods.

Updating revolution counters

Explains how to update revolution counters using the TPU or FlexPendant for correct calibration.

Reference information

Applicable standards

Lists relevant EN ISO, IEC, and European standards for robot design and safety.

Screw joints

Describes how to tighten various types of screw joints, including UNBRAKO, Gleitmo, and lubricated screws.

Standard tools

Lists the standard tools required for service, repairs, and installation procedures.

Special tools

Specifies special tools required for service procedures, including calibration equipment.

Spare part lists

Spare part lists and illustrations

Informs that spare parts and exploded views are delivered as a separate document.

Circuit diagram

Circuit diagrams

States that circuit diagrams are available on myABB Business Portal with article numbers listed.