XR Series - Robot Calibration (CALSET)

Modified on Tue, 09 May 2023 at 12:36 PM


Read this resource material carefully and in its entirety before use to ensure it is understood and used properly. Failure to properly follow the instructions in the resource materials DENSO provides may result in damage to your equipment. As a result, by using the resource materials, you are assuming the risks associated with modifying your equipment. DENSO holds no liability, implied or otherwise, for damage, injury or any legal responsibility incurred, directly or indirectly from the use of the resource materials, including any loss of data or damage to property which may occur by your use of the resource materials. The use of the resource materials is not recommended unless you have technical knowledge and functional experience with the equipment and related software. DENSO is unable to provide support, remote or otherwise, for the information included in the resource material, nor for the ancillary topics relating to the information included in the resource materials.
Therefore, if you are not fully comfortable with it, we strongly recommend that you send your unit to one of our Regional Support Centers for repair. The information contained in the resource materials are subject to change at the sole discretion of DENSO. 


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
    • 410192-0010- T-axis CALSET jig (Not included)

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:

Step 1- 1st Axis

Motion end in the negative direction

Step 2- 2nd Axis

Rotation end in the positive direction

Step 3- 3rd Axis

Uppermost motion end (in the positive direction)

Step 4- 4th Axis

Rotation end in the positive direction set by the CALSET jig.

Step 4.1 

To CALSET the 4th axis (T-axis) or all axes, you need to mount the CALSET jig on the axis beforehand according to the procedure shown below.

Fit a stopper pin in the CALSET jig.

Step 4.2

Mount the CALSET jig on the 4th-axis (T-axis) flange as shown below.

The CALSET position of the 4th axis (T-axis) refers to the point where the stopper pin (shown below) comes into contact with bolt A by turning the 4th-axis (T-axis) flange.

Next Steps:

Owner's Manual Reference

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