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

VP-6242

Axis		CALSET position
Position	1st axis	Turning end in the positive direction (counterclockwise end when viewed from top)
	2nd axis	Turning end in the negative direction
	3rd axis	Turning end in the positive direction
	4th axis	Turning end in the positive direction (counterclockwise end when viewed from the arm end)
	5th axis	Turning end in the positive direction
	6th axis	Turning end in the positive direction, which is set by a CALSET jig

VP-5243

Axis		CALSET position
Position	1st axis	Turning end in the positive direction (counterclockwise end when viewed from top)
	2nd axis	Turning end in the negative direction
	3rd axis	Turning end in the positive direction
	5th axis	Turning end in the negative direction
	6th axis	Turning end in the positive direction, which is set by a CALSET jig.

Preparation for CALSET

CALSET requires some space for bringing each axis into contact with the mechanical end.

To CALSET the 6th axis having no mechanical stop, you need to mount the CALSET jig on the axis.

When CALSETing, move the axis to be CALSET in the vicinity of the mechanical stop, release the brake, and bring the axis into contact with the mechanical stop. In the VP series, each of all axes has a brake.
When performing CALSET, be careful with the robot motion. The execution of the CALSET command releases motor brakes so that the robot arms will move by its own weight.
After CALSET, confirm in the manual mode that each axis stops at the software motion limit before coming into contact with the mechanical end.
In automatic operation, start to run the robot at low speed. Ensuring safety, gradually increase the speed. It makes adjustment easy.
Position-related data in some programs made before CALSET may vary somewhat after CALSET.
If the RANG values have not been changed after a mechanical end change, remove the changed mechanical end(s) before performing CALSET.

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.

Refer to the "Displaying CALSET Operation Menu " of TEACH PENDANT OPERATION GUIDE.