Method for Executing CALSET

Execution Method

Record the position by manually pressing each of the axes of the robot against the mechanical end.

On an axis without a mechanical end, install a CALSET jig to temporarily provide a mechanical end for CALSET and press the axis against this mechanical end to record the position.

Precautions for Executing CALSET

1. When executing CALSET, sufficient space is required to press the robot axes against the mechanical ends.
2. When executing CALSET, move the target axis near the mechanical stopper and release the brake to press it against the mechanical stopper.
3. Be careful when executing the CALSET command because it releases the motor brake and the robot starts moving under its own weight.
4. After completing CALSET, check that the axes stop at the software limits before they hit the mechanical ends in Manual mode.
5. In Auto mode, first run the robot at a low speed and gradually increase the speed while paying attention to safety. Adjustment is easier if the speed is gradually increased from a low value.
6. In a program created before execution of CALSET, the positions may be a little different after it.
7. When rotating axes after releasing the brake, be careful that the range of rotation does not exceed the allowable motion range (default software limit). If the axes are rotated beyond the software limit, a brake lock (motor power OFF) occurs even while the brake is released.
   Be careful of the arm since it may rotate under its own weight after the brake is released depending on the robot posture and end-effector position.
8. If the RANG value remains unchanged after the mechanical end is changed, remove the part with the changed mechanical end before executing CALSET.

Record of CALSET Position

Because of the installation conditions, if the robot cannot reach to the mechanical end, move the robot to any position and store each axis angle value on the position in J-type variables. Doing so, you can perform CALSET by using them as reference values. (This function is available in Ver.2.8.* or higher.)

If you perform CALSET in other than mechanical end position, place a marking so that users could find CALSET position even if the internal position information is lost.