Denso VS-G Series Installation & Maintenance Manual page 45

(2) Software motion limits and Set RANG values
Note: If you perform CALSET with the mechanical stop parts (prepared by the 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.
The set software motion limits and RANG values must be changed whenever the
mechanical end positions are changed. A RANG is the angle that determines the
relationship between the reference position of the robot and the mechanical ends, and
is also called a reference angle or ready angle. The RANG value checking procedure is
given below.
The relationship between each mechanical end position and software motion limits is
shown in the table on page 29.
Change the set software motion limits (PLIMs) and RANG values according to the
procedures given in "(3) Changing positive-direction software motion limits (PLIMs)
and RANG values" and "(4) Changing the negative-direction software motion limits
(NLIMs)".
Checking the set RANG values
After mounting the mechanical stop parts, check the RANG values according to the
procedure below.
The RANG values that you check here should be entered in the procedure of "(3)
Changing positive-direction software motion limits (PLIMs) and RANG values" and "(4)
Changing the negative-direction software motion limits (NLIMs)."
When you use the permanent mechanical end, this checking job is not required.
STEP 1
STEP 2
Turn the power switch of the robot controller to ON.
Set the mode selector switch of the teach pendant to MANUAL.
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