HS Series- Robot Calibration (CALSET)

Modified on Fri, 11 Oct at 9:24 PM

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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
- 410192-0040 - 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)

HS-A1 (Floor Mount)	HSS-A1 (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

Upper end (in the positive direction)

4th Axis

Step 1

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

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

Note: When CALSETing the 4th axis of the dust-& splash-proof or ISO rated, you need to pull down the lower bellows for setting the CALSET bolt.

To CALSET the 4th axis, you need to mount a CALSET bolt on the axis. As illustrated below, the CALSET bolt is built in the robot unit, so remove it and set it up into the specified position. After completion of CALSET, put it back into place.

Next Steps:

Calset Menu (RC8A)

RC8/8A Calset Procedure

Owner's Manual Reference

CALSET: https://www.fa-manuals.denso-wave.com/en/usermanuals/004783/
Changing RANG Values: https://www.fa-manuals.denso-wave.com/en/usermanuals/006074/