Calibration Irb 1400 S4

[paulofutre10]

Hi

I made the calibration, (put all axes on the mark) and update resolves.
When i put the axes on the mark, its rough eye because i don't have any instrument to do it.
I have the numbers in the cabinet but i don't know what to do with that.

When i jog the robot in linear, it don't give me a straight line,but i think in automatic the error is less than in manual.

Does my robot don't have a good calibration ?
If i put the axes on mark by eye, the numbers in the cabinet what are they good for ?

Thanks

[prnuk2003]

Was this a running system before the fault?
Why did you need to 'update' all six axis?

If you chose 'rev counter update' then you chose correct but maybe your calibration offsets are no good.
If you lined all the marks then 'fine calibrated' the robot then your robot will be badly calibrated but the figures written down in the cabinet (if they are the correct values) will need manually entering for each axis then a warm start then performing the rev counter update procedure.

You might also be able to use a recent backup  that contained the syspar/ moc.cfg (parameter file for the motion control including the cal offsets).

To manually enter the values:
Line up all six rev counter update marks.
 
If it is an S4 then go to MISC/Parameters

• Choose Topics: Manipulator.
• Choose Types: Motor.
• Select the desired motor and press Enter .
• Select the  cal offset and change its value .
• Press OK to confirm.
• Select the next motor then repeat until all six are corrected as necessary.

Do the warm start then the rev counter update.

[paulofutre10]

Hi

I bought the robot i don't know the history.
The first time i start up it shows : Unsynchronized

so i made the :
Miscellaneous-Service-Calib-calib
and
Miscellaneous-Service-Calib-update resolve counters.

I have a backup of the parameters when the robot arrive.
To put the moc.cfg do i need to put the robot in the line up of all axes ?

"To manually enter the values:
Line up all six rev counter update marks."

My question is, why put the correct numbers if i make the line up of the axes by eye ?
It´s not a very accurate process.

Sorry my confusion, but i have a lot of experience in CNC and the process of making the zero machine it´s very different in the robots.

so every time i update the counters i have to program all the positions on my program ?

The robot in manual don't make a perfect linear path, is because of the calibration ?

thanks

[prnuk2003]

The six figures written down (or normally printed on a label) should be the figures ABB generated during the fine calibration of the robot at manufacture and are never generated by lining any marks up by eye.
They are written on the robot arm as a hard copy for reference.
The only time you fine calibrate is when a motor has been removed/replaced. The the fine calibration procedure must use the methods and equipment designed for it.
Cal offset is a value between 0 and 6.283185 (2 * pi Radians) covering one turn of the motor therefore extremely accurate.

If you manually type in the values then, after the warm start, you will still need to update all the counters after the marks have been lined up (telling the controller that it is in the zero turn of the motor very close to 0 degress calculated from the cal offset).

The robot cannot travel in a straight line until all six axis are calibrated correctly.

If you think that the figures and calibration are correct but linear paths are not good then you may need to get ABB in to recalibrate the robot (the written down figures are not up to date).
 
Because you don't know the history of the robot then it may be that it has been previously fine calibrated incorrectly and you are seeing the bad result of some one elses mistake.

Once the correct figures are in the system and rev counters are updated then any programs made from this point will not need any adjustment if the rev counters need updating again (as long as the marks are lined up).