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Overview
Arm calibration, 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".
This procedure applies to the following robot types: HM-40***, HM-4A***
Tools and Parts Needed
- Philips-head screwdriver (depends on model)
- Allen (hex) key (depends on model)
- CALSET Jig
- 410813-0430 - 4th axis CALSET jig
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
Step by Step Guide
External Appearance
| HM Series | HMS Series |
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Note: When moving the robot by hand, hold by a part other than the plastic cover.
Step 1 - 1st Axis
Turning end in the positive direction (counterclockwise end when viewed from the top)
UL Models: Move the target axis by hand while holding down the brake release switch.
Step 2 - 2nd Axis
Turning end in the negative direction (clockwise end when viewed from the top)
UL Models: Move the target axis by hand while holding down the brake release switch.
Step 3 - 3rd Axis
Move to the upper end (in the positive direction)
Release the brakes with the teach pendant or mini-pendant and then move the target axis by hand.
CAUTION: When CALSETing, move the axis to be CALSET in the vicinity of the mechanical end, release the brake, and bring the axis into contact with the mechanical end. When bringing the 3rd axis (Z-axis) into contact with the mechanical end, be careful not to let your fingers get caught in the geared part of the rack.
Step 4 - 4th Axis
NOTE: When CALSETing the 4th axis of the dust- & splash-proof type, you need to pull down the lower bellows for setting the CALSET bolt.
1. Remove the CALSET bolt from the robot and attach it to the 4th axis shaft to use it as a mechanical stopper for the T-axis.
Appropriate tightening torque for the bolt is between 0.5 and 1.5Nm.
NOTE: Be sure to remove the CALSET bolt after completion of CALSET.
CAUTION: Be sure to use the CALSET bolt built in the robot unit when performing CALSET.
2. Rotate the 4th axis shaft to the CALSET position by moving the stopper with hand. (Pushing torque: 0.5Nm or less)
NOTE: Never push with too large torque.
3. In case of the dust- & splash-proof type, perform 4th-axis CALSET after removing the lower bellows.
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Next Steps:
Owner's Manual Reference
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