ABB S4Cplus

Overview
53HAC 16578-1 Revision: E
© Copyright 2003-2007 ABB. All rights reserved.
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This manual contains procedures for calibrating a robot, using the tool calibration pendulum.
Both the Calibration Pendulum II and Reference Calibration routine are described.
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This manual should be used during calibration with the calibration pendulum.
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This manual is intended for:
• installation personnel on the installation site.
• repairing personnel during repair or maintenace.
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The reader should have...
• the required knowledge of how the robot works
• a basic understanding of what calibration does and how it is performed.
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The manual is organized in the following chapters:
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1. General information about the calibration method, including information about
the required tools.
2. Information about how to prepare the equipment prior to calibration.
3. Procedures that detail how to perform the calibration. The chapter is divided in
two sections, one for each routine (Calibration Pendulum II and Reference Cal-
ibration). The sections specify to which robot system the routine is applicable.
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0 First edition.
A Information on IRB 7600/2.3/500 added.
Paths to calibration software revised.
Minor editorial changes.
B Minor editorial changes.
Methods to calibrate the pendel tool added.
Changes in Information about IRB 7600/2.3/500.
C Pendellum Calib II intrud.
Methods to calibrate the pendel tool added for IRC5.
Changes in Information about IRB 7600/2.3/500.
D Reference Calibration introduced.
Manual restructured.
Robot models IRB 1600, IRB 260, IRB 660, IRB 4450S and IRB 6600ID/6650ID
added to the calibration procedure.
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