Calset; What Is Calset; Cautions At Calset - Denso VP-G SERIES Installation & Maintenance Manual

2.4

CALSET

2.4.1

What Is CALSET?

Calibrating the relationship between position-related information recognized by the
robot controller and the actual position of the robot unit is called CALSET.
CALSET must be performed when the motor is replaced or when the encoder backup
battery goes dead and the position-related data retained in the encoder is lost as a
result.
After CALSET is completed, the calibrated data of the robot unit will be stored in the
robot controller. This data is called CALSET data which is different on each robot.
Back up the CALSET data periodically, referring to "Backing Up Projects."
2.4.2

Cautions at CALSET

CALSET requires some space for bringing each axis into contact with the mechanical end.
Caution: (1) To CALSET the 6th axis having no mechanical stop, you need to mount the
CALSET jig on the axis.
(2) When CALSETing, move the axis to be CALSET in the vicinity of the
mechanical stop, release the brake, and bring the axis into contact with the
mechanical stop. In the VP-G series, each of all axes has a brake.
(3) When performing CALSET, be careful with the robot motion. The execution of
the CALSET command releases motor brakes so that the robot arms will move
by its own weight.
(4) After CALSET, confirm in the manual mode that each axis stops at the software
motion limit before coming into contact with the mechanical end.
(5) In automatic operation, start to run the robot at low speed. Ensuring safety,
gradually increase the speed. It makes adjustment easy.
(6) Position-related data in some programs made before CALSET may vary
somewhat after CALSET.
(7) If the RANG values have not been changed after a mechanical end change,
remove the changed mechanical end(s) before performing CALSET.
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