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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".
Tools and Parts Needed
- Philips-head screwdriver
- Allen (hex) key
- CALSET Jigs
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 (for all axis)
Previous Steps:
1st Axis
Step 1Turning end in the positive direction (counterclockwise end when viewed from top) |
2nd Axis
Step 1Turning end in the negative direction |
3rd Axis
Step 1Turning end in the positive direction |
4th Axis (with mechanical stop)
Step 1Models having no mechanical stop on the 4th axis Turning end in the positive direction, which is set by a CALSET jig. (counterclockwise end when viewed from the arm end) | |
Step 2Release the brake of the 4th axis. | |
Step 3 |
4th Axis (without mechanical stop)
Step 1Remove the 3rd-axis motor cover and unscrew the CALSET bolt.NOTE: After CALSETing, be sure to set the bolt back into place and torque it to 1.0 Nm ±20%. |  |
Step 2Rotate the second arm to the position specified in Step 4. | |
Step 3Release the brake of the 4th axis. | |
Step 4Set the CALSET bolt to the end of the 3rd axis housing as shown below. Tightening torque of the CALSET bolt: 2.9 Nm ±20% NOTE: Be sure to use the CALSET bolt as a CALSET jig. Using any other bolt will result in a positional error in CALSET. TIP: The CALSET position of the 4th axis refers to the point where the notch of the second arm comes into contact with the head of the CALSET bolt by turning the second arm. |  |
5th Axis
Step 1Turning end in the positive direction (upward end of the 5th-axis arm) |
6th Axis
Step 1Fit a stopper pin in the CALSET jig. | |
Step 2Release the brake of the 6th axis. | |
Step 3Install the CALSET jig on the flange of the 6th axis as shown in the figure below and the figure on the next page. The CALSET position of the 6th axis refers to the point where the stopper pin (shown below) comes into contact with bolt (A) when the flange of the 6th axis is turned. |   |
Next Steps:
Owner's Manual Reference
- VM Series (CALSET): https://www.fa-manuals.denso-wave.com/en/usermanuals/000975/
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