Overview

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


Step 1


Press "Cancel" button on teach pendant to start on the main screen.

Step 2


Turn teach pendant key to Manual

Step 3


Press "Setting" -> Login -> Maintainer and enter the maintainer password (5596060) and press "OK"

Step 4


Press "Cancel" button again to back out to the main screen.

Step 5


Press "Arm" ->  "Shift" ->  "Maintenance" ->  "Joint Settings" -> "Auto Gain Tuning"

Step 6


Select the Joint No. that needs to be tuned.

Step 7


 Select the desired direction the motor is free to move in (approximately 30-50mm)

Step 8


 Select the appropriate stiffness based on mechanical components

Step 9


"Enable" Gravity offset torque only if the load is vertical and has the additional load of gravity
 

Step 10


Press the "Execute" button

Step 11


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)

Step 12


Press and Hold the "OK" button to start the tuning process. (Motor will start to move once this is pressed)

Step 13


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

Step 14


 **Take caution when auto tuning the motor as it will move back and forth multiple times during the process


Owner's Manual Reference