HSR Series - Robot Calibration (CALSET)

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Overview

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)

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

Previous Steps:

• How to release axis brake (RC8)

Floor Mount	Overhead Mount

1st Axis

2nd Axis

3rd Axis

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)

CAUTION:

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:

• Calset Menu (RC8A)

• RC8/8A Calset Procedure

Owner's Manual Reference

• CALSET: https://www.fa-manuals.denso-wave.com/en/usermanuals/002457/
• Changing RANG Values: https://www.fa-manuals.denso-wave.com/en/usermanuals/006427/