ABB CRB 15000 - Calibrating the Torque Sensors

6.2 Calibrating the torque sensors
Torque sensor calibration routine
The CRB 15000 torque sensors are calibrated with the routine TorqueSensorCal,
which is available in the System Module TorqueSensorCalib. No external calibration
tools are required.
Features in the routine
The routine for the torque sensor calibration includes the following features:
DescriptionFeature
This feature compares the current torque sensor offsets with
measured offsets. This is useful for a quick test of the calibration.
Torque Sensor
Check
This features calibrates torque sensors when a sensor drift has oc-
curred. This is useful, for example, if there are event log messages
about a sensor drift, of if there is a drift when using lead-through.
Torque Sensor Calib
i
This feature calibrates torque sensors when a joint unit has been
exchanged, or when a joint has been removed as part of replacing
another part.
Joint Unit Replace-
ment
i
i
This feature is only available when user authorization (UAS) is set with user grant Safety Services.
Preparations before calibration
Remove any tools mounted on the robot, to get accurate torque offsets
measurements.
The torque sensor calibration routine must be run in manual operating mode.
Running the calibration routine is possible only if the logged in user has the the
grant Safety Services.
Running routine TorqueSensorCal
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.
CAUTION
Keep a distance from the robot while the routine is running, until the calibration
data has been reviewed, accepted as reasonable, and stored.
1 On the FlexPendant, go to the Code app and call the calibration procedure
Torque Sensor Calib, using PP to Routine, not by using Call Routine. Press
Play.
2 Select which feature to run.
The features are described in Features in the routine on page 1053.
Only the feature Torque Sensor Check is shown for users without user grant
Safety Services.
The other features require a password. The password is 14775 (cannot be
changed).
3 Select which axis to calibrate.
Continues on next page
Product manual - CRB 15000 1053
3HAC077389-001 Revision: L
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6 Calibration
6.2 Calibrating the torque sensors