HSR Series - Robot Calibration (CALSET)

Modified on Tue, 09 May 2023 at 12:46 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
    • 410813-0430 - 4th axis CALSET jig (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

Previous Steps:

Floor Mount
Overhead Mount

1st Axis

Step 1

Turning end in the positive direction (counterclockwise end when viewed from the top)

2nd Axis

Step 1

Turning end in the negative direction (clockwise end when viewed from the top)

3rd Axis

Step 1

  • Floor-mount : Upper end (in the positive direction)
  • Overhead-mount : Lower end (in the negative direction)

4th Axis

Step 1

Turning end in the positive direction (counterclockwise end when viewed from the top)

Note: To mount those bolts for the bellows type, dust- & splash-proof type, cleanroom type, H1 grease type, remove the bottom bellows.

(Tightening torque for the bellows fixing band: 1.2±0.24Nm)


  1. 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.
  2. After CALSET, confirm in the manual mode that each axis stops at the software motion limit before coming into contact with the mechanical end.
  3. In automatic operation, start to run the robot at low speed. Ensuring safety, gradually increase the speed. It makes adjustment easy.
  4. Position-related data in some programs made before CALSET may vary somewhat after CALSET.

Next Steps:

Owner's Manual Reference

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