5 Calibration information
5.2. Calibration methods
4053HAC022033-001 Revision: K
© Copyright 2004-2011 ABB. All rights reserved.
Calibration methods
Each calibration method is detailed in a separate manual. Following is a brief description of
the methods available.
Calibration Pendulum - standard method
Calibration Pendulum is the standard method for calibration of all ABB robots (except IRB
6400R, IRB 640, IRB 1400H, and IRB 4400S) and is also the most accurate method for the
standard type of calibration. It is the recommended method in order to achieve proper
performance.
Two different routines are available for the Calibration Pendulum method:
• Calibration Pendulum II
• Reference calibration
The calibration equipment for Calibration Pendulum is delivered as a complete toolkit,
including the operating manual for Calibration Pendulum, which describes the method and
the different routines further.
Levelmeter calibration - alternative method
Levelmeter calibration is referred to as the alternative method for calibration of ABB robots
because of the less accurate values obtained during calibration. The method uses the same
principles as Calibration Pendulum, but does not have as good of mechanical tolerances to
the toolkit parts as the standard method with Calibration Pendulum.
This method may, after calibration, require modifications in the robot program and is
therefore not recommended.
The calibration equipment for Levelmeter Calibration is ordered as separate parts for each
robot and the operating manual for Levelmeter calibration is enclosed with the Levelmeter
2000.
CalibWare - absolute accuracy calibration
To achieve a good positioning in the Cartesian coordinate system, absolute accuracy
calibration is used as a TCP calibration. The CalibWare tool guides through the calibration
process and calculates new compensation parameters. This is further detailed in the
application manual Absolute accuracy calibware field 5.0.
If a service operation is done to a robot with absolute accuracy, a new absolute accuracy
calibration is required in order to establish full performance. For most cases after motor and
transmission replacements that do not include taking apart the robot structure, standard
calibration is sufficient. Standard calibration also supports wrist exchange.
References
Article numbers for the calibration tools are listed in the section Special tools on page 428.
The calibration equipment for Calibration Pendulum is delivered as a complete toolkit,
including Operating manual - Calibration Pendulum, which describes the method and the
routines further.
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