Denso VS-G Series Installation & Maintenance Manual page 80

Cautions at CALSET
CALSET requires some space for bringing each axis into contact with the mechanical
end.
Caution (1) 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.
• The VS-G series can release the brake of the specified axis.
• Brake-equipped version of the VS-G series: Each of the 2nd through 6th axes
has a brake.
• None-brake version of the VS-G series: Only the 2nd to 4th axes have brakes.
• UL-Listed robot units of the VS-G series: All axes have brakes.
(2) When releasing brakes, be careful about the robot motion. Releasing brakes
causes the robot arm to move by its own weight.
(3) After CALSET, confirm in the manual mode that each axis stops at the software
motion limit before coming into contact with the mechanical end.
(4) In automatic operation, start to run the robot at low speed. Ensuring safety,
gradually increase the speed. It makes adjustment easy.
(5) Position-related data in some programs made before CALSET may vary
somewhat after CALSET.
(6) For models having no mechanical stop on the 4th axis:
When rotating the 4th axis with the brake released, take care not to let the 4th axis
override the motion limit (initial setting of the software motion limit). Rotating it
beyond the motion limit will cause the brake (even released) to be locked, turning
the motor off.
Be careful with arms that may rotate by gravity after brakes are released
depending upon the robot posture and hand position.
(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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