Changing the Mechanical Ends

The VS-*** series of robots allows you to change the mechanical ends of the 1st, 2nd, and 3rd axes.

Changing the following three mechanical ends requires modifying the RANG values in some cases as described below.

• 1st axis, the positive direction
• 2nd axis, the negative direction
• 3rd axis, the positive direction

If it is possible to remove the mechanical stop parts and move the robot arm to the previous mechanical end, no modification of the RANG values is required. If it is impossible (e.g., due to interference with the surrounding equipment), however, modification of the RANG values is required.

After modification of the RANG values, perform CALSET and back up both the RANG and CALSET values.

For details about CALSET and RANG values, refer to "CALSET" and "Changing RANG Values."

Precautions for Changing the Mechanical Ends

1. To change the mechanical ends, design and produce the mechanical stoppers suited for the usage conditions, referring to this manual.
2. After changing the mechanical ends using the mechanical stoppers, be sure to change also the software motion limits to prevent the robot arm from coming into contact with the mechanical stoppers when the robot runs.
3. If the robot arm collides against any mechanical stopper, it may be damaged. Before use, contact the Denso service representative for inspection and repair. The mechanical stopper designed and produced by the customer may also be damaged. Do not use it again and replace it.
4. A mass increase due to the mounted mechanical stoppers may influence the payload capacity of the robot unit.
5. The robot failures resulting from the mechanical stoppers shall not be covered by the warranty even if the robot is under warranty.