VS-068/087 Robot Calibration (Clean Room Type Robot)

Modified on Tue, 22 Oct at 6:35 PM

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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 Needed

Philips-head screwdriver (depends on model)
Allen (hex) key (depends on model)
CALSET Jig
- 410192-0060 - 6th axis CALSET jig (CleanRoom Type Robot) (Not included)

Note:
If you are not sure which part number you need or the Robot Arm you own please stop and contact your DENSO Robotics sales representative.

Video Tutorial J1 to J5

Video Tutorial J6

Note: Clean room's calset jig will be different from the video.

Step by Step Guide (for all axis)

Previous Steps:

How to release axis brake (RC8)

1st Axis

Step 1

Positive-direction mechanical end (at the time of shipment)

2nd Axis

Step 1

Negative-direction mechanical end (at the time of shipment)

3rd Axis

Step 1

Positive-direction mechanical end (at the time of shipment)

4th Axis

The 4th axis physically rotates 360° or more, but it is not a boundless rotation joint. It has no mechanical ends.

Follow the procedure below and set the 4th axis in a correct CALSET position.

Performing CALSET in a wrong position may break internal wiring.

Step 1 Release the brake of the 4th axis. Refer to "Releasing Brakes on Individual Axes".
Step 2 Rotate the 4th axis slowly by hand in the positive direction (counterclockwise, seen from the top end of the arm) until it gets blocked (around 360°). NOTE Slowly rotate the axis. If it gets blocked, do not push it hard further. If the axis does not get blocked even if you rotate it two turns or more, internal over-rotation prevention tape may be damaged. Repair and replacement are required. Please contact Denso services.
Step 3 Rotate (Return) one turn in the negative direction (clockwise, seen from the top end of the arm) by hand until it comes to the following position (around 0°).
Step 4 Rotate the 4th axis from the position in STEP 3 until it comes to the following position (around plus 30°). Set the 4th-axis CALSET bolt in that position shown in the figure. The 4th-axis CALSET bolt is stored in the encoder backup battery box. Refer to "Encoder Backup Battery Box".
Step 5 Rotate the 4th axis in the negative direction by hand and gently press it against the 4th-axis CALSET bolt for performing CALSET.

5th Axis

Step 1

Release the brake on J5 and move J5 in the negative (-) direction until the joint reaches its external hardstop.

6th-Axis CALSET Position (Clean Room Type Robot)

Calset Jig Installation

Step 1 Set the 6 axis to the place the drawing on the right indicates. (Near the 0 degree)
Step 2 Mount the CALSET jig. Tightening Torque; 8.8 +/- 1.7 Nm