5 Calibration
5.1 Overview
General
This chapter includes general information about different calibration methods and
also details procedures that do not require specific calibration equipment.
When the robot system must be recalibrated, it is done according to the
documentation enclosed with the calibration tools.
WARNING
Make sure no persons are on IRBT 2005 when the carriage is in motion. Also
make sure that IRBT 2005's cover plates are free from loose objects, otherwise
they can get trapped between the carriage and the plates.
Note
IRBT 2005 does not need to be calibrated during restart. The resolvers only need
to be calibrated when commissioning the system.
When to calibrate
The system must be calibrated if any of the following situations occur.
The resolver values are changed
If resolver values are changed, the robot must be recalibrated using the calibration
methods supplied by ABB. Calibrate the track carefully with standard calibration.
The resolver values will change when parts affecting the calibration position are
replaced on the track, for example motors or parts of the transmission.
This is detailed in Fine calibration on page 264.
The revolution counter memory is lost
If the revolution counter memory is lost, the counters must be updated. See Update
revolution counters on page 265. This will occur when:
• The battery is discharged
• A resolver error occurs
• The signal between a resolver and measurement board is interrupted
• A robot axis is moved with the control system disconnected
The revolution counters must also be updated after the robot and controller are
connected at the first installation.
The track is rebuilt
If the track is rebuilt, for example after a crash or when the reach ability of the track
is changed, it needs to be recalibrated for new resolver values.
This is detailed in Fine calibration on page 264.
Product manual - IRBT 2005 263
3HAC051130-001 Revision: F
© Copyright 2015 - 2018 ABB. All rights reserved.
5 Calibration
5.1 Overview
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