Table Of Contents - Denso VS-G Series Installation & Maintenance Manual

Preface ................................................................................................................................................................................ i
How the documentation set is organized ........................................................................................................................ii
How this book is organized .............................................................................................................................................iii
SAFETY PRECAUTIONS
Chapter 1 Installing Robot Components ........................................................................................................................ 1
1.1 Preparing a Proper Environment for Installation................................................................................................... 1
1.1.1 Ambient Temperature and Humidity .............................................................................................................. 1
1.1.2 Vibration......................................................................................................................................................... 1
1.1.3 Connecting the Robot Unit and Robot Controller .......................................................................................... 1
1.1.4 Installation Environment of the Robot Unit ................................................................................................... 2
1.2 Mounting the Robot Unit ...................................................................................................................................... 4
1.2.1 Caution in Floor-mount Installation of the Dust- & Splash-proof Type of Robot Units ................................ 4
1.2.2 Transporting the Robot Unit........................................................................................................................... 5
1.2.3 Securing the Robot Unit ................................................................................................................................. 8
1.2.4 Grounding the Robot Unit .............................................................................................................................. 9
1.3 Installing the Robot Controller.............................................................................................................................. 9
1.4 Cautions for Designing the Robot Hand ............................................................................................................... 9
1.5 Moving Each Axis with Motor Power OFF in Emergency Stop ......................................................................... 10
1.6 Releasing Brakes on UL-Listed Robot Units ...................................................................................................... 11
1.7 Locking Out the Power Switch ........................................................................................................................... 12
Chapter 2 Customizing Your Robot .............................................................................................................................. 13
2.1 What Is Customization? ...................................................................................................................................... 13
2.2 Modifying Software Motion Limits to Define New Motion Space..................................................................... 14
2.2.1 What Is a Software Motion Limit? ............................................................................................................... 14
2.2.2 Factory Defaults of Software Motion Limits................................................................................................ 15
2.2.3 Changing Software Motion Limits ............................................................................................................... 16
2.2.4 Precautions When Changing the Software Motion Limits ........................................................................... 17
2.2.5 Procedure for Changing the Software Motion Limits .................................................................................. 17
2.3 Changing the Mechanical End ............................................................................................................................ 20
2.3.1 1st-axis Mechanical End Change ................................................................................................................. 21
2.3.2 2nd-axis and 3rd-axis Mechanical Ends Change .......................................................................................... 39
2.4 CALSET.............................................................................................................................................................. 59
2.4.1 What Is CALSET?........................................................................................................................................ 59
2.4.2 Precautions about CALSET for the VS-G Series ......................................................................................... 59
2.4.3 Preparation for CALSET .............................................................................................................................. 61
2.4.4 Mounting the CALSET Jig........................................................................................................................... 63
2.4.5 What Is a CALSET Position? ....................................................................................................................... 67
2.4.6 CALSET Procedure...................................................................................................................................... 68
2.5 Setting Control Set of Motion Optimization ....................................................................................................... 75
2.6 Setting Robot Installation Conditions ................................................................................................................. 76
Contents