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3.3.1. About Reference Calibration

3HAC 16578-1 Revision: E72

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The Reference Calibration is used in field, to restore the robot home position, eg. after service

activities. (Reference Calibration is a function included in the service routine Calibration

Pendulum.)

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The calibration procedure is based on reference values that are defined once and then used

each time the robot needs to be recalibrated. The values are stored on the controller, with a

file name equal to the serial number of the robot.

The reference values must be defined before required use of robot recalibration.

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Tools and process cabling are allowed on the robot. Reference Calibration will also function

for both floor mounted and hanging robots.

As for the robot position, the axes 2-6 are set to 0º, while the position of axis 1 has no

significance but can instead be set to whatever suits best for the installation site.

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The Reference Calibration routine has following limitations:

• calibration of axis 1 must be performed with Calibration Pendulum II.

• the axes of a back bending robot are divided into two groups: axes 2, 3, 5 and axes 4,

6. Parallel rod robots have their own calibration reference for axis 2 on the lower arm,

which results in the grouping 2 and 3, 5 and 4, 6 instead. Reference Calibration can

only be used for one axis from each group at the same occassion. Calibration is

consequently not possible for several axes within the same group. If service activities

are performed for several axes within the same group, the service must be divided into

sessions with calibration in between.

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The integrated software for Reference Calibration is developed for RobotWare 5.07 and later.

For RobotWare 4.0 and earlier releases of 5.0, standalone versions are available with manual

operation, detailed in separate documentation enclosed with the release.

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The required tools for Reference Calibration are specified in section (TXLSPHQWIRU

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ABB S4Cplus Instruction

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