When installing/replacing a new motor or when various errors occur on an existing extended axis motor occur.
Tools and Parts Needed
RC8/RC8A/MC8 controller, extended axis motor and a full size teach pendant. Controller must be configured to use an extended axis motor Extended-Joint Option for RC8/RC8A . This process is not for motor's installed inside a robot arm.
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.
Step by Step Guide
|Press "Cancel" button on teach pendant to start on the main screen.|
|Turn teach pendant key to Manual|
|Press "Setting" -> Login -> Maintainer and enter the maintainer password (5596060) and press "OK"|
|Press "Cancel" button again to back out to the main screen.|
|Press "Arm" -> "Shift" -> "Maintenance" -> "Joint Settings" -> "Auto Gain Tuning"|
|Select the Joint No. that needs to be tuned.|
| Select the desired direction the motor is free to move in (approximately 30-50mm)|
| Select the appropriate stiffness based on mechanical components|
|"Enable" Gravity offset torque only if the load is vertical and has the additional load of gravity|
|Press the "Execute" button|
|Press and hold the dead man switch in halfway and then press the "Motor" on button (motors must be on to execute the auto tuning function)|
|Press and Hold the "OK" button to start the tuning process. (Motor will start to move once this is pressed)|
|If an error occurs and tuning does not complete then try using a different stiffness setting in step 10 and repeat steps 11 and 12|
| **Take caution when auto tuning the motor as it will move back and forth multiple times during the process|