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Robot Calibration
Disassembly/Assembly
Guidelines
IRB 6400
Calibration ProceduresCalibration Procedures
Overview
The IRB 6400 measurement system consists of one
resolver for each axis connected to a SMB (serial
measurement board). The resolvers provide an analog
voltage corresponding to the resolvers rotated position.
Then the SMB converts this analog voltage to a digital
signal and sends the information serially to the robot
computer board. The serial measurement board also
keeps track of the current resolver revolution count. To
keep track of these revolution counts even when power
is turned off the SMB has a rechargeable battery
attached to it. When a new machine is shipped from the
factory this battery may not be charged. The control
must be connected to the robot and with the main
disconnect turned on it takes 18 hours to fully charge
this battery and it should maintain a charge for
approximately 1000 hours. If this battery loses its
charge an error “20032 Rev counter not updated” will be
given after a power outage.
When the robots are assembled they are accurately
calibrated using digital levels and calibration fixturing.
The calibration values are recorded on a paper stuck to
the robots casting next to the axis 1 motor and they are
also saved on the “Boot Disk 4” which is shipped with
each robot.
In this chapter four calibration procedures will be
discussed. They are:
— Rough resolver calibration procedure.
— Manually entering calibration values.
— Precision resolver calibration procedure.
— Counter updating procedures.
Each procedures purpose and when it should be used
is explained in each procedure.
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