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ID : 56

CALSET

What Is CALSET?

Calibrating the relationship between position information recognized by the robot controller and the actual position of the robot arm is called CALSET.

CALSET uses a previously determined axis position where an axis can be secured. It creates calibration data (CALSET data) that matches the actual axis position (CALSET position) with the encoder value. The angle of the CALSET position is saved in the robot controller as a RANG value.

The CALSET data is different on each robot.

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.

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

Factory Defaults of CALSET Position

Axis CALSET position
1st axis Positive-direction mechanical end (at the time of shipment)
2nd axis Negative-direction mechanical end (at the time of shipment)
3rd axis Positive-direction mechanical end (at the time of shipment)
4th axis Location of 4th-axis CALSET bolt (Refer to "4th-axis CALSET position")
5th axis Negative -direction end VS-050/060: Use CALSET bolt. Refer to "5th-axis CALSET position (VS-050/060)"
6th axis

Location of CALSET jig Please refer to the following information as a function of the flange type.

CALSET Procedure

1

Release the brake of an axis to be CALSET and move the axis to the CALSET position.

2

Use the teach pendant to select CALSET.

For details, refer to "CALSET Operation Using CALSET Jig" of TEACH PENDANT OPERATION GUIDE.

ID : 56

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