VS-6556 / 6577 Robot Calibration (CALSET)

Modified on Tue, 22 Oct at 6:38 PM

Please read our Legal Disclaimer before executing any steps on this article.

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:

How to release axis brake (RC8)

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:

RC8 Menu: CALSET

Owner's Manual Reference

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