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ABB PFSA140 3BSE006503R1 Roll Supply Unit

From: | Author:Wang | Time :2024-12-10 | 270 visit: | Share:

ABB PFSA140 3BSE006503R1 Roll Supply Unit

Absolute Accuracy is a calibration concept that improves TCP accuracy. The
difference between an ideal robot and a real robot can be several millimeters,
resulting from mechanical tolerancesand deflection in the robot structure. Absolute
Accuracy compensates for these differences.
Here are some examples of when this accuracy is important:
• Exchangeability of robots
• Offline programming with non or minimum touch-up
• Online programming with accurate movement and reorientation of tool
• Accurate cell alignment for MultiMove coordinated motion
• Programming with accurate offset movement in relation to eg. vision system
or offset programming
• Re-use of programs between applications
The option Absolute Accuracy is integrated in the controller algorithms and does
not need external equipment or calculation.
Note
The performance data is applicable to the corresponding RobotWare version of

the individual robot.

A robot with Absolute Accuracy calibration is marked on the manipulator.
Absolute Accuracy supports both floor mounted and inverted installations. The
compensation parameters differ depending on if the robot is floor mounted or
inverted.
When is Absolute Accuracy being used
Absolute Accuracy works on a robot target in Cartesian coordinates, not on the
individual joints. Therefore, joint based movements (e.g. MoveAbsJ) will not be
affected.
If the robot is inverted, the Absolute Accuracy calibration must be performed when
the robot is inverted.
Absolute Accuracy active
Absolute Accuracy will be active in the following cases:
• Any motion function based on robtargets (e.g. MoveL) and ModPos on
robtargets
• Reorientation jogging
• Linear jogging
• Tool definition (4, 5, 6 point tool definition, room fixed TCP, stationary tool)
• Work object definition
Absolute Accuracy not active
The following are examples of when Absolute Accuracy is not active:
• Any motion function based on a jointtarget (MoveAbsJ)
• Independent joint
• Joint based jogging
• Additional axes
• Track motion
Note
In a robot system with, for example, an additional axis or track motion, the
Absolute Accuracy is active for the manipulator but not for the additional axis or
track motion.
RAPID instructions
There are no RAPID instructions included in this option.
MultiMove
If the main robot in a MultiMove system has the Absolute Accuracy option, it opens
up Absolute Accuracy capability for all the robots in the system. However, each
robot needs to be calibrated individually.
Note
Note that this is the only RobotWare option that is relevant for an additional robot.
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