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Home >> ABB >> ABB PFRA101 3BSE003911R0001 Tension measurement control unit
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ABB PFRA101 3BSE003911R0001 Tension measurement control unit

From: | Author:Wang | Time :2024-12-10 | 240 visit: | Share:

ABB PFRA101 3BSE003911R0001 Tension measurement control unit

This section specifies the different types of calibration and the calibration methods
that are supplied by ABB.
More information is available in the product manual.
Types of calibration
Calibration method Type of calibration Description
Axis Calibration or
manual calibrationi
The calibrated robot is positioned at calibration
position.
Standard calibration data is found on the SMB
(serial measurement board) or EIB in the robot.
Standard calibration
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.
CalibWare Based on standard calibration, and besides
positioning the robot at synchronization position, the Absolute accuracy calibration also
compensates for:
• Mechanical tolerances in the robot
structure
• Deflection due to load
Absolute accuracy calibration focuses on positioning accuracy in the Cartesian coordinate
system for the robot.
Absolute accuracy
calibration (optional)
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 performance, the robot must be recalibrated for absolute accuracy after repair or maintenance that
affects the mechanical structure.


Information about valid calibration method is found on the calibration label or in the calibration
menu on the FlexPendant.
If no data is found related to standard calibration, manual calibration is used as default.
Brief description of calibration methods
Axis Calibration method
Axis Calibration is a standard calibration method for calibration of IRB 1200 and
is the most accurate method for the standard calibration. It is the recommended
method in order to achieve proper performance.
The following routines are available for the Axis Calibration method:
• Fine calibration
• Update revolution counters
• Reference calibration
The calibration equipment for Axis Calibration is delivered as a toolkit.
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
Manual calibration method
With the manual calibration method, the robot's axes are positioned in specific
calibration positions using calibration tools. Under this condition, the position of
the axis to be calibrated is pre-determined. The axes must be calibrated one at a
time.
CalibWare - Absolute Accuracy calibration
The CalibWare tool guides through the calibration process and calculates new
compensation parameters. This is further detailed in the Application
manual - CalibWare Field.
If a service operation is done to a robot with the option Absolute Accuracy, a new
absolute accuracy calibration is required in order to establish full performance.
For most cases after replacements that do not include taking apart the robot
structure, standard calibration is sufficient.
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