**Attention**
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.
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
- 410192-0050 - 6th axis CALSET jig (Not 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 J1 to J5
Video Tutorial J6
Step-by-Step Guide (for all axis)
Previous Steps:
1st Axis
Step 1Positive-direction mechanical end (at the time of shipment) |
2nd Axis
Step 1Negative-direction mechanical end (at the time of shipment) |
3rd Axis
Step 1Positive-direction mechanical end (at the time of shipment) |
4th Axis
The 4th axis physically rotates 360° or more, but it is not a boundless rotation joint. It has no mechanical ends.
Follow the procedure below and set the 4th axis in a correct CALSET position.
Performing CALSET in a wrong position may break internal wiring.
Step 1Release the brake of the 4th axis. Refer to "Releasing Brakes on Individual Axes". | |
Step 2Rotate the 4th axis slowly by hand in the positive direction (counterclockwise, seen from the top end of the arm) until it gets blocked (around 360°).NOTE | |
Step 3Rotate (Return) one turn in the negative direction (clockwise, seen from the top end of the arm) by hand until it comes to the following position (around 0°). | |
Step 4Rotate the 4th axis from the position in STEP 3 until it comes to the following position (around plus 30°). Set the 4th-axis CALSET bolt in that position shown in the figure. The 4th-axis CALSET bolt is stored in the encoder backup battery box. Refer to "Encoder Backup Battery Box". | |
Step 5Rotate the 4th axis in the negative direction by hand and gently press it against the 4th-axis CALSET bolt for performing CALSET. |
5th Axis
Step 1Determine the CALSET position of the 5th axis of the VS-050/060 using the 4th-axis CALSET bolt. Set the 4th-axis CALSET bolt in the position shown on the right, and then gently press the 5th axis against the negative-direction end by hand. (The 4th-axis CALSET bolt is stored in the encoder backup battery box. Refer to " ".) |
6th-Axis CALSET Position (Standard Type Robot, Standard Flange)
Calset Jig Assembly
Step 1Remove the standard-type CALSET pin. | |
Step 2Mount the CALSET pin (for standard type) to the place drawing below indicates. Tightening Torque: 2.0 +/- 0.4 Nm |
Calset Jig Installation
Step 1Set the 6 axis to the place drawing on the right indicates. (near the 0 degree) | |
Step 2Mount the CALSET jig. Tightening Torque: 8.8 +/- 1.7 Nm |
Positioning
Step 1Rotate the CALSET jig clockwise, and then touch the pin to the bolt slightly. |
Next Steps:
Owner's Manual Reference
- CALSET: https://www.fa-manuals.denso-wave.com/en/usermanuals/000056/
- Changing RANG Values: https://www.fa-manuals.denso-wave.com/en/usermanuals/006092/
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