VS-6556 / 6577 Robot Calibration (CALSET)

Modified on Fri, 23 Sep 2022 at 11:22 AM

Overview


CALSET must be performed when any of the motors is replaced or the  encoder backup battery goes dead so that the position-related data  retained in the encoder is lost.

The CALSET data is different on each robot.

CALSET data should be managed by the customer. Back up the CALSET data periodically, referring to "Backing up Projects".


Tools and Parts

  • Philips-head screwdriver 
  • Allen (hex) key
  • CALSET Jigs
    • 410192-0010 - 6th axis CALSET Jig

NOTE:
If you don't feel capable of performing this procedure or have not been previously attended a training class please stop and  contact your DENSO Robotics sales representative.     


Video Tutorial



Step by Step guide (for all axis)


Previous Steps:

1st Axis

Step 1

Turn axis to its mechanical stop in the positive direction (counterclockwise end when viewed from top) 




2nd Axis

Step 1

Turn axis to its mechanical stop in the negative direction.




3rd Axis

Step 1

Turn axis to its mechanical stop in the positive direction 




4th Axis

Step 1

Remove the 3rd-axis motor cover and unscrew the CALSET bolt. 


NOTE:
After CALSETing, be sure to set the bolt back into place and torque it to 1.0 Nm ±20%. 

Step 2

Release the brake of the 4th axis. 



Step 3

Set the CALSET bolt to the end of the 3rd axis housing as shown in the figure below.

Tightening torque of the CALSET bolt: 2.9 Nm ±20%


NOTE
Be sure to use the CALSET bolt as a CALSET jig. Using any other bolt will result in a positional error in CALSET. 

TIP
The CALSET position of the 4th axis refers to the point where the notch of the second arm comes into contact with the head of the CALSET bolt by turning the second arm.


CAUTION
Check the Precautions about CALSET for the VS-Series
https://www.fa-manuals.denso-wave.com/en/usermanuals/005450/


5th Axis

Step 1

Turn axis to its mechanical stop in the positive direction (upward end of the 5th-axis arm)


NOTE:
Additional steps required if using cleanroom robot type 


6th Axis

Step 1

Fit stopper pin in the CALSET jig (6th axis)

Step 2

Release the brake of the 6th axis. 



Step 3

Install the CALSET jig on the 6th axis flange as shown in the figure below. 


TIP

The CALSET position of the 6th axis refers to the point where the  stopper pin (shown in the figure below) comes into contact with bolt (A)  by turning the flange of the 6th axis. 

NOTE:
Additional steps required if using cleanroom robot type 


Next Steps:

Owner's Manual Reference

https://www.fa-manuals.denso-wave.com/en/usermanuals/005449/

Was this article helpful?

That’s Great!

Thank you for your feedback

Sorry! We couldn't be helpful

Thank you for your feedback

Let us know how can we improve this article!

Select atleast one of the reasons
CAPTCHA verification is required.

Feedback sent

We appreciate your effort and will try to fix the article