ABB S4Cplus Instruction

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3.2.3. Calibration, all axes, CalPend
3HAC 16578-1 Revision: E40
© Copyright 2003-2007 ABB. All rights reserved.
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This section details how to perform the actual fine calibration of each axis using the
calibration pendulum tools, specified in section (TXLSPHQWIRUFDOLEUDWLRQSHQGXOXPRQSDJH
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The positions where to fit the calibration pendulum (sensor) differ between different models
and different axes. The positions are shown in &DOLEUDWLRQVHQVRUPRXQWLQJSRVLWLRQV
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The axes must be calibrated in increasing sequence, i.e. 1 - 2 - 3 - 4 - 5 - 6.
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The procedure below details how to fine calibrate the robot with calibration pendulum.
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1. Prepare the robot calibration as detailed
in section 3UHSDULQJWKHFDOLEUDWLRQ
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2. Jog the robot axes to be calibrated to a
position close to the correct calibration
position.
Use the calibration scales fitted to each robot
axis to locate this position, shown in section
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3. Make a rough calibration. Detailed in section 8SGDWLQJUHYROXWLRQ
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4. 9DOLGIRUD[LVRQO\
Fit the ORFDWLQJSLQ to the robot base.
Make sure the attachment surface is
clean and free from any nicks or burrs.
Shown in section &DOLEUDWLRQVHQVRUPRXQWLQJ
SRVLWLRQV&DO3HQGRQSDJH.
5. Start the calibration service routine from
the teach pendant unit, and follow the
instructions given, including fitting the
calibration sensor when requested.
1RWH After fitting the sensor on the robot
as specified on the teach pendant unit, 
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Make sure nobody is within the working
range of the robot!
The mounting positions for the reference
sensor and calibration sensor respectively,
are shown in &DOLEUDWLRQVHQVRUPRXQWLQJ
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1RWH No additional tool is required for fitting
the calibration pendulum for axes 1-3!
Fitting the pendulum to the turning disk
requires an adapter (included in the complete
set). Notice that there are two adapters!
Article numbers are specified in section
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How to handle the calibration program prior to
the actual calibration of each axis is detailed in
sections &DOLEUDWLRQ3HQGXOXP,,SURFHGXUH
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ABB S4Cplus Specifications

General

Brand	ABB
Model	S4Cplus
Category	Controller
Language	English