Denso VS-G Series Installation & Maintenance Manual page 42

After a mechanical end change, the software motion limits (PLIMs, NLIMs) must be
changed.
And also, if you change the RANG values after a mechanical end change, the CALSET
must also be performed.
Note: RANG refers to a reference angle that determines the relationship between the
reference position of the robot and the mechanical ends, and is also called a ready
angle.
(1) When CALSET is necessary (e.g., at the time of motor replacement), if you
(2) If you perform CALSET with the mechanical stop parts (prepared by the
The following example for the 1st-axis mechanical end change contains RANG value
change and CALSET.
[ 2 ] Changing the Mechanical Ends
The mechanical ends can be changed by mounting four types of mechanical stop parts
(i.e., mechanical stops, fixture blocks A, fixture block B, and plates) and then changing
the set software motion limits and the RANG values. The procedures for doing this are
described in the following sections.
(1) Mounting mechanical stop parts
STEP 1
Precautions When Changing the Mechanical Ends
perform CALSET after removing the mechanical stop parts (prepared by the
customer), a mechanical end change requires no RANG value change or
CALSET.
customer) being mounted, a mechanical end change requires RANG value
change and CALSET. In this case, the position repeatability depends on the
mechanical stop parts prepared by the customer.
The initialization floppy disk holds the factory defaults of the initial RANG values
and CALSET values. After performing CALSET, the customer needs to manage
the RANG values and CALSET values modified.
Move the 1st axis of the robot until the stopper bolt comes into the
inside of the motion space that you want to set.
Stopper bolt
24