ABB IRB 140 User Manual

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Instructions for Levelmeter calibration (alternative method)
Calibration equipment
Levelmeter 2000
IRB 140 / IRB 1400 / IRB 2400 / IRB 4400
IRB 6600 / IRB 6650 / IRB 6650S / IRB 7600 / IRB 6400R

ABB IRB 140 Specifications

General

Payload	6 kg
Reach	810 mm
Axes	6
Protection	IP67
Repeatability	±0.03 mm
Type	Articulated Robot
Manufacturer	ABB
Model	IRB 140
Mounting	Floor, Wall, Inverted

Summary

Overview

1.1. Introduction

Brief introduction to the calibration method and its purpose.

1.2. How and when to calibrate the robot system

Explains the conditions and procedures for robot system calibration.

1.3. Calibration, prerequisites

Outlines the necessary conditions and requirements before starting calibration.

1.4. Calibration movement directions for all axes

Details the correct movement directions for each robot axis during calibration.

Reference Information

2.1. Introduction

Provides an introduction to the reference information needed for robot calibration.

2.2. Calibration equipment, axis 1

Lists the specific equipment required for calibrating robot axis 1.

2.3. Calibration equipment, axes 2-6

Lists the calibration equipment required for robot axes 2 through 6.

2.4. Calibration scales and correct axis position

Shows the calibration scale positions and correct axis alignments for various robot models.

2.5. Initialization of Levelmeter 2000

Details the steps to initialize the Levelmeter 2000 before calibration.

2.6. Checking the calibration position

Explains methods to verify if the robot's calibration position is correct.

2.7. Positions and directions of sensor

Describes the mounting positions and orientations of the calibration sensor.

Calibration

3.1. Introduction

Introduces the chapter detailing the complete robot calibration procedure.

3.2. Calibration, axis 1, IRB 140

Step-by-step procedure for calibrating axis 1 on IRB 140.

3.3. Calibration, axis 1, IRB 1400

Step-by-step procedure for calibrating axis 1 on IRB 1400.

3.4. Calibration axis 1, IRB 2400

Step-by-step procedure for calibrating axis 1 on IRB 2400.

3.5. Calibration, axis 1, IRB 4400

Step-by-step procedure for calibrating axis 1 on IRB 4400.

3.6. Calibration, axis 1, IRB 6600 / IRB 6650 / IRB 6650S / IRB 7600

Procedure for calibrating axis 1 on IRB 6600/6650/6650S/7600.

3.7. Calibration, axis 1, IRB 7600 (early design)

Procedure for calibrating axis 1 on IRB 7600 early design.

3.8. Calibration, axis 1, IRB 6400R

Step-by-step procedure for calibrating axis 1 on IRB 6400R.

3.9. Calibration, axis 2

Procedure for performing the fine calibration of robot axis 2.

3.10. Calibration, axis 3

Procedure for performing the fine calibration of robot axis 3.

3.11. Calibration, axis 4

Procedure for performing the fine calibration of robot axis 4.

3.12. Calibration, axis 5

Procedure for performing the fine calibration of robot axis 5.

3.13. Calibration, axis 6

Procedure for performing the fine calibration of robot axis 6.

3.14. Fine calibration procedure on TPU

Details how to perform fine calibration using the Teach Pendant Unit (TPU).

3.15. Fine calibration procedure on FlexPendant

Details how to perform fine calibration using the FlexPendant.

3.16. Resetting of Levelmeter 2000 and sensor

Explains how to reset the Levelmeter 2000 and prepare the sensor.

3.17. Updating revolution counters

Details how to update the revolution counter value for each robot axis.

After Calibration

4.1. Introduction

Introduces the final step of verifying the robot's calibration status.

4.2. Post calibration procedure

Outlines the procedure to verify all robot calibration positions are correct.