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1.3. Types of calibration procedures

93HAC 16578-1 Revision: E

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The routine Calibration Pendulum II (CalPend) is used to move the robot to zero position for

fine calibration of motor calibration offset. The calibration is fully automatic and will move

the robot to the position read from the sensors.

Read more about the routine in section $ERXW&DOLEUDWLRQ3HQGXOXP,,RQSDJH.

If the second generation of tool set is available it is always recommended to use the flip-flop

variant (option available for IRB 6600/6650 and IRB 7600). (In the second generation of tool

set the calibration pendulum housing is equipped with an extra pin on the side, next to the

attachment screw. The service routine will ask the operator whether to use the flip-flop variant

or not.)

From RobotWare 4.0.100 (M2000) and 5.07 (M2004) automatic fine calibration is available

in the service routine.

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With the routine Reference Calibration (RefCal) references are taken of the robots zero

position once the robot is installed. These reference values are then used when the robot needs

to be recalibrated at future service occasions, i.e. recalibration of the motor calibration offset

is required.

Read more about the routine in section $ERXW5HIHUHQFH&DOLEUDWLRQRQSDJH.

The Reference Calibration includes features regarding:

• axis 1 position. The user may put the axis 1 in any position, to avoid obstacles.

• tool and process equipment. All tool and process equipment may stay fitted during

calibration.

• hanging robot. A reference may be used on hanging robots as well.

These features are not available in Calibration Pendulum II.

ABB S4Cplus Instruction

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