2Nd-Axis And 3Rd-Axis Mechanical Ends Change - Denso VS-G Series Installation & Maintenance Manual

2.3.2

2nd-axis and 3rd-axis Mechanical Ends Change

[ 1 ] What is the 2nd-axis and 3rd-axis Mechanical Ends Change?
At the time of delivery from the factory, mechanical ends are preset so that the
workable angle of the 2nd-axis and 3rd-axis will be as listed in the table below (factory
default).
Note: The limit to the workable angle of the robot is defined by the software motion limit.
The software motion limit is set inside the mechanical end positions.
VS-6556G series
VS-6577G series
Changing the mechanical ends of the 2nd-axis and 3rd-axis by adding mechanical
stoppers is called a mechanical end change.
To change the mechanical ends of the 2nd-axis and 3rd-axis, the mechanical stoppers
should be prepared by the customer.
Caution: After changing the mechanical ends, change the software motion limits to the
positions inside the mechanical end positions.
And also, if you change the RANG values required 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 examples for the 2nd- and 3rd-axis mechanical end changes do not
involve the RANG value change or CALSET.
Workable angle at shipping for VS-G series
Model Workable angle for the 2nd-axis
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.
+135°, -100°
↑
39
Workable angle for the 3rd-axis
+166°, -119°
+169°, -119°