Hi, guys..
I'm new to ABB robots and I have a problem with tool calibration. The problem is that after calibration I have mean error about 5mm how I would not try (((
What is the problem? At first I thought that the problem was in the defference between motor calibration data on the sticker on the rear of the robot and what was in the conroller.
I have edited it and updated revolution counters. The problem with tool calibration remained.
What am I doing wrong? 
Tool calibration problem
- lomaxe
- Thread is marked as Resolved.
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Robot is new? If never changing mechanical parts values from rear list is ok load that values in controller and YouTube check that smb and controller have same value
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- Check robot type on control panel (IRB140-6/0.8)
- Check calibration offset, make fine calibration and update revolution counter.
- You must be sure calibration mark fully aligned. -
No, you don't need any tool. Only make align calibration marks and select fine calibration, after than update revolution counters.
And also please check robot data in controller. Is it correct?
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Hard to get a real accurate TCP if the calibration is not right.
Based on the pictures, the motors look original so I vote for the factory data.
After you entered in the factory calibration data from the sticker and reset the rev. counter, did you verify by moving all axes to zero and checking that the marks on each axis line up?
Because of its size and the ambiguity of the notches, the rev counters on the IRB140 can be off without realizing it.
Try using a level (digital is best) after moving to zero position to verify and I would try different positions with the rev. counters before giving up on the factory data.
Axis 6 rev count may be an issue since the low number cal data is a few degrees from the zero crossing.
Perhaps its the angle, but axes 1, 2, & 3 in the pics seem off. -
Check the wrist for backlash (just try to move it with your hand when the robot stays still and brakes are engaged).
I've met this problem before on a brand new IRB2400 - the wrist assembly had to be replaced. Soon, a few more robots in the same project had the same problem (came from the same production batch).
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