Hello,
New to robots, I'm trying to use an IRB360 and control though XY coordinates given.
It doesn't move or the correct coordinates.
Is it possible to calibrate the robot? If so how?
Any help would be greatly appreciated
Thanks
IRB360 Flexpicker XY control
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Alyrian -
April 9, 2016 at 12:16 AM -
Thread is marked as Resolved.
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Standard calibration is done by hand, releasing the brakes and moving the arms to the calibration positions. There should be a calibration device on the axes, looks like a clip standing away from the main body of the robot. On axis four there are two matching notches that should be lined up.
Move each of the axes to the calibration point individually, then update the rev counters for that axis.
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Thank you SharplesR for the response,
We've tried that and when at each of those locations the angle given is different, it is now going to be re-calibrated using a ring.Is there any other form of calibration possible?
We are getting XY coordinates from CAD to Pick and Place shapes with rotation also, with the aim to do stack ups of those parts in the future.
At the moment if we tell the robot to go X500 and Y500 for example, it will be off by about 0.2-0.8mm at random over the total area (in our case 1600mm), it's not repeatable either to the 0.1mm given in ABB spec.Couple of questions:
Is this the best it can do in terms of position Accuracy? or is there alternate add-ons to give it a better position accuracy?Let say it is the wrong robot for the job, original specification is Position Accuracy 0.1mm, which Robot type would be able to achieve that?
Thank you for any comments or advice
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The standard calibration is the one SharplesR has told you.
This ring calibration is used in extremely conditions where the arms have deviations.You have misunderstood these three terms.
Accuracy is: if you put a dial indicator touching the robot flange you can manually move the robot using increments and see that the arm can move exactly 0.1 mm.
Repeatability is: using the same dial indicator use a program with two points and move back and forth to the indicator several times. The robot must touch every time the same position and the deviation on the indicator should be less than the standard Repeatability.
Cartesian Positioning accuracy is: the software have a mathematical model of the manipulator, in this model the arm is perfect without deviations. But the real arm, like any mechanical part, has tolerance that brings deviations. So the software think the robot is in the correct position, but the real arm is not. This only happens when you use coordinates that are not from the robot, like you are doing.
ABB has an option called Absolute accuracy, where a laser calibration is made and the found values are put in the software, so you have the real mathematical model. Unfortunately FlexPicker don't have this option. -
Thank you roulv for the clarification, haven't heard of Cartesian positioning accuracy before and it doesn't explain the issue very well.
Shame that Flexpicker don't have the Absolute accuracy option.If I were to generate a map of Cartesian Position vs Actual Position, will it be possible to put it back within the software for corrections?
Or is there alternative ways to improve Cartesian Positioning Accuracy? that could be implemented ourselves or using 3rd parties (vision, external calibration...)