6th-Axis CALSET Position (Standard Type Robot, Standard Flange)

For robots equipped with a standard flange, determine the 6th-axis CALSET position using a dedicated CALSET jig. Checking the number of rotations of the axis is not necessary because the 6th axis is a boundless rotation joint.

To setup, follow the process below.

1. CALSET Jig Assembly
2. CALSET Jig Installation
3. Positioning

CALSET Jig Assembly

1

Remove the standard-type CALSET pin.

2

Mount the CALSET pin (for standard type) to the place drawing below indicates.

Tightening Torque: 2.0 +/- 0.4 Nm

CALSET Jig Installation

1

Set the 6 axis to the place drawing below indicates. (near the 0 degree)

2

Mount the CALSET jig.

Tightening Torque: 8.8 +/- 1.7 Nm

Positioning

Rotate the CALSET jig clockwise, and then touch the pin to the bolt slightly.