VS-068/087 Robot Calibration (Standard Flange)

Please read our Legal Disclaimer before executing any steps on this article. 

Overview

CALSET must be performed when any of the motors is replaced, or the encoder backup battery goes dead so that the position-related data retained in the encoder is lost.

Prerequisites

The CALSET data is different for every robot.  The CALSET data for the robot arm is referred to as RANG data.  RANG data is located on a sticker on the base of every robot.  It is important that the RANG data from the robot has been entered into the controller prior to performing the CALSET procedure.  If you do not know how to check/change RANG data on the RC8/RC8(A), use the link at the bottom of this article.

CALSET data should be managed by the customer. Back up the CALSET data periodically, referring to " Backing up Projects ". 

Tools and Parts Needed

• Philips-head screwdriver (depends on model)
• Allen (hex) key (depends on model)
• CALSET Jig 
  • 410192-0050 - 6th axis CALSET jig (Not included)

Note:
If you are not sure which part number, you need or the Robot Arm you own please stop and contact your DENSO Robotics sales representative.

Video Tutorial J1 to J5

Video Tutorial J6

Step by Step Guide (for all axis)

Previous Steps:

• How to release axis brake (RC8)

1st Axis

Step 1 Positive-direction mechanical end (at the time of shipment)

2nd Axis

Step 1 Negative-direction mechanical end (at the time of shipment)

3rd Axis

Step 1 Positive-direction mechanical end (at the time of shipment)

4th Axis

The 4th axis physically rotates 360° or more but it is not a boundless rotation joint. It has no mechanical ends.

Follow the procedure below and set the 4th axis in a correct CALSET position.

Performing CALSET in a wrong position may break internal wiring.

Step 1 Release the brake of the 4th axis.  Refer to "Releasing Brakes on Individual Axes".
Step 2 Rotate the 4th axis slowly by hand in the positive direction (counterclockwise seen from the top end of the arm) until it gets blocked (around 360°). NOTE Slowly rotate the axis. If it gets blocked, do not push it hard further. If the axis does not get blocked even if you rotate it two turns or more, internal over-rotation prevention tape may be damaged. Repair and replacement are required. Please contact Denso services.
Step 3 Rotate (Return) one turn in the negative direction (clockwise seen from the top end of the arm) by hand until it comes to the following position (around 0°).
Step 4 Rotate the 4th axis from the position in STEP 3 until it comes to the following position (around plus 30°). Set the 4th-axis CALSET bolt in that position shown in the figure. The 4th-axis CALSET bolt is stored in the encoder backup battery box. Refer to "Encoder Backup Battery Box".
Step 5 Rotate the 4th axis in the negative direction by hand and gently press it against the 4th-axis CALSET bolt for performing CALSET.

5th Axis

Step 1 Release the brake for J5 and move J5 in the negative (-) direction until the joint reaches its external hardstop.

6th Axis

6th-Axis CALSET Position (Standard Type Robot, Standard Flange)

Calset Jig Assembly

Step 1 Remove the standard-type CALSET pin.
Step 2 Mount the CALSET pin (for standard type) to the place drawing below indicates. Tightening Torque: 2.0 +/- 0.4 Nm

Calset Jig Installation

Step 1 Set the 6 axis to the place drawing below indicates. (near the 0 degree)
Step 2 Mount the CALSET jig. Tightening Torque: 8.8 +/- 1.7 Nm

Positioning

Step 1 Rotate the CALSET jig clockwise, and then touch the pin to the bolt slightly.

Next Steps:

• Calset Menu (RC8A)

• RC8/8A Calset Procedure

Owner's Manual Reference

• CALSET: https://www.fa-manuals.denso-wave.com/en/usermanuals/000056/
• Changing RANG Values: https://www.fa-manuals.denso-wave.com/en/usermanuals/006092/

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VS-068/087 Robot Calibration (Standard Flange)

Please read our Legal Disclaimer before executing any steps on this article. 

Overview

CALSET must be performed when any of the motors is replaced, or the encoder backup battery goes dead so that the position-related data retained in the encoder is lost.

The CALSET data is different on each robot.

CALSET data should be managed by the customer. Back up the CALSET data periodically, referring to " Backing up Projects ". 

Tools and Parts Needed

• Philips-head screwdriver (depends on model)
• Allen (hex) key (depends on model)
• CALSET Jig 
  • 410192-0050 - 6th axis CALSET jig (Not included)

Note:
If you are not sure which part number, you need or the Robot Arm you own please stop and contact your DENSO Robotics sales representative.

Video Tutorial J1 to J5

Video Tutorial J6

Step by Step Guide (for all axis)

Previous Steps:

• How to release axis brake (RC8)

1st Axis

Step 1 Rotate joint 1 in the positive direction (counterclockwise) to the joint 1 hard stop.

2nd Axis

Step 1 Move joint 2, in the negative direction, until it moves to its physical limit.

3rd Axis

Step 1 Move joint 3, in the posi direction, until it moves to its physical limit.

4th Axis

The 4th axis physically rotates 360° or more but it is not a boundless rotation joint. It has no mechanical ends.

Follow the procedure below and set the 4th axis in a correct CALSET position.

Performing CALSET in a wrong position may break internal wiring.

Step 1 Release the brake of the 4th axis.  Refer to "Releasing Brakes on Individual Axes".
Step 2 Rotate the 4th axis slowly by hand in the positive direction (counterclockwise seen from the top end of the arm) until it gets blocked (around 360°). NOTE Slowly rotate the axis. If it gets blocked, do not push it hard further. If the axis does not get blocked even if you rotate it two turns or more, internal over-rotation prevention tape may be damaged. Repair and replacement are required. Please contact Denso services.
Step 3 Rotate (Return) one turn in the negative direction (clockwise seen from the top end of the arm) by hand until it comes to the following position (around 0°).
Step 4 Rotate the 4th axis from the position in STEP 3 until it comes to the following position (around plus 30°). Set the 4th-axis CALSET bolt in that position shown in the figure. The 4th-axis CALSET bolt is stored in the encoder backup battery box. Refer to "Encoder Backup Battery Box".
Step 5 Rotate the 4th axis in the negative direction by hand and gently press it against the 4th-axis CALSET bolt for performing CALSET.

5th Axis

Step 1 Release the brake for J5 and move J5 in the negative (-) direction until the joint reaches its external hardstop.

6th Axis

6th-Axis CALSET Position (Standard Type Robot, Standard Flange)

CALSET Jig Assembly

Step 1 Remove the standard-type CALSET pin.
Step 2 Mount the CALSET pin (for standard type) to the place drawing below indicates. Tightening Torque: 2.0 +/- 0.4 Nm

CALSET Jig Installation

Step 1 Set the 6 axis to the place drawing below indicates. (near the 0 degree)
Step 2 Mount the CALSET jig. Tightening Torque: 8.8 +/- 1.7 Nm

Positioning

Step 1 Rotate the CALSET jig clockwise and touch the pin to the bolt slightly.  Perform CALSET of Joint 6. Note: Unlike some older models of Denso vertical robots, you do not need to CALSET joint 5 and joint 6 together.

Next Steps:

• CALSET Menu (RC8A)

• RC8/8A CALSET Procedure

Owner's Manual Reference

• CALSET: https://www.fa-manuals.denso-wave.com/en/usermanuals/000056/
• Changing RANG Values: https://www.fa-manuals.denso-wave.com/en/usermanuals/006092/

Additional Information

• For additional assistance, contact support@densorobotics.com or visit our online contact form at https://www.densorobotics.com/contact/
• Looking for onsite assistance? See our certified partners Regional Support Centers | DENSO Robotics