Calibration & Offset

[cezanne]

Hi all,

I have lots of IRB6600 robots (S4C+A M2000A controller). Im wondering that, if i change one of the axis motors of the robot, how can i get real offset values, how can i fix it without deviation?

We can use calibration pendulum for that purpose (etalonage), but the calibration of an axis robot is always made without load (responsibility) embarked at the level of the wrist.
Disassembling and assembling the load (like servogun,gripper) is wasting time.

Is there any other way or procedure (any documentations) to get the robot into its exact position? 

Thanks

[DanH]

Hi,
Yes, there is a product called "DynaCal" that can recover the robot after changing a servo or gear (i.e. after losing mastering).  This product works with the tool attached, meaning that you never need to remove the tooling.  It can also measure you TCP very accurately. 

Check www.dynalog-us.com for more information.

Dan

[perion]

Are you sure DynaCal can do an adequate fine cal after motor replacement?

[DanH]

Yes, its been used on ABB robots many times for this purpose.  Just use the DynaCal before replacing the motor - in order to get a baseline calibration.  Once you have a baseline calibration, you can replace any motor or gear, or even an entire robot and get back in production without re-teaching any programs.

[perion]

Thanks for that.  We're going to check this out. We have quite a few ABB robots from IRB140s to IRB7600s (S4C+ and IRC5).

perion