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ID : 877

Precautions When Changing the Mechanical Ends

After a mechanical end change, the software motion limits (PLIMs, NLIMs) must be changed.

And also, if you change the RANG values required after a mechanical end change, the CALSET must also be performed.

RANG refers to a reference angle that determines the relationship between the reference position of the robot and the mechanical ends, and is also called a ready angle.

  1. When CALSET is necessary (e.g., at the time of motor replacement), if you perform CALSET after removing the mechanical stop parts (prepared by the customer), a mechanical end change requires no RANG value change or CALSET.
  2. If you perform CALSET with the mechanical stop parts (prepared by the customer) being mounted, a mechanical end change requires RANG value change and CALSET. In this case, the position repeatability depends on the mechanical stop parts prepared by the customer.
    The customer needs to manage the RANG values and CALSET values after modification, referring to "Backing up Projects".

ID : 877

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