6 Calibration
6.1 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
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 serial measurement board (SMB) or
other robot memory.
A robot calibrated with Absolute accuracy has
the option information printed on its name
plate (OmniCore).
To regain 100% Absolute accuracy perform-
ance, the robot must be recalibrated for abso-
lute accuracy after repair or maintenance that
affects the mechanical structure.
Torque sensor calibra-
tion
The CRB 15000 torque sensors are calibrated
with the routine TorqueSensorCal which is
available in the System Module TorqueSensor-
Calib. No external calibration tools are re-
quired.
Torque sensor calib-
ration
The calibration method for the robot consists
of calibrating the motor torque sensors, which
are installed to monitor and measure the motor
torque.
Wrist OptimizationOptimization of TCP reorientation perform-
ance. The purpose is to improve reorientation
accuracy for continuous processes like weld-
ing and gluing.
Optimization
Wrist optimization will update standard calib-
ration data for axes 4 and 5.
Brief description of calibration methods
Torque sensor calibration
The torque sensor in an axis motor must be calibrated if any of the following
situations occur:
• A drift in the sensor values has occurred.
Continues on next page
Product manual - CRB 15000 1051
3HAC077389-001 Revision: L
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6 Calibration
6.1 Calibration methods
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