Robot Calibration for OffLine Programming

Tay Wu

We want to make our robots more accurate to make Off-Line programming to work.

One of the options will be to modify the "robot model" in the RobotStudio based on the measurement using "Laser Tracker" we recently obtained. Where I should get started on this project?

Henrik Berlin

What most people do is to keep the simulation environment nominal and calibrate the tooldata / workobjects / baseframes with the real environment when the program has been downloaded. Then you must be careful to separate the calibrated workobjects / baseframes of the shopfloor from the nominal ones of your simulation environment. You should use separate MOC.CFG files with the baseframes and CalibModule.mod with workobjects and tooldata. 

Alternatively, you can use the RobotWare Option "Absolute Accuracy" that could be of interest to you. To use that you need to buy a new RobotWare key from ABB. In this case you must also use separate MOC.CFG for the simulation environment and the shopfloor. Please get in touch with your local ABB Representative for more information.

 

Tay Wu

Thanks for prompt reply.

We probably would get an extra RobotWare key for "Absolute Accuracy" later.

For now, I prefer go with basic calibration for tooldata / workobjects  / baseframes.

Where do I get the document(s) on procedures etc?

Henrik Berlin

See the attachments that may contain tools and information of interest to you.

 

CalibTools

In the system module utility a number of small routines have been collected.
These routines might be helpful in several occasions, e.g. when it's needed to make conversions between euler angles and quaternions or to update the tool and work object values. Also many routines for calibration are included. The utility module may be loaded into the system by the command File/Open, and then loading utility.sys. The TechNote contains references to the manual "IRC5 with FlexPendant" that is available in RobotStudio.

webwiz/772/CalibTools.zip

 

CalibrationProcedures

This package contains a number of useful procedures that can be used to facilitate the calibration of baseframes for robot or positioner and for calibration of tools and workobjects. The procedures are collected in a package which shall be installed as an additional option. For further information, see the CalibTools.doc

webwiz/772/CalibrationProcedures.zip

 

Calibration Pendulum Application Manual

This manual contains procedures for calibrating a robot, using the tool calibration pendulum. Both the Calibration Pendulum II and Reference Calibration routine are described.
webwiz/772/3HAC16578-1_revE_en_CalibrationPendulum.zip

 

THOD

Hello,

I have downloaded and installed the calibtools on my system.  I can view that it installed on the pendant.  However, the function CalObjectFrame is not recognized.  What can I do to troubleshoot this?  I would really like to use this function, it seems like a great tool!!

THOD

Update,

I went through the steps again and got it to work.  I think the problem might have been the "CALIBTOOLS.01" folder.  I named it something different the first time.

I hope this helps someone in the future.