Changing RANG Values

A RANG value refers to an angle that determines the relationship between the reference position of the robot arm and the CALSET position, and is also called a reference angle or ready angle.

The factory defaults of RANG values for the 1st, 2nd, and 3rd axes are obtained when each axis is in contact with the corresponding mechanical end configured at the time of shipment.

When CALSET is required but mechanical stop parts mounted by the customer cannot be removed so that the robot arm cannot take a posture in the CALSET position determined at the time of shipment, then it is necessary to change the RANG values stored in the controller to the ones obtained by the CALSET position determined by the mechanical stopper parts mounted by the customer.

1

Move an axis whose RANG value is to be changed towards the mechanical end by manual operation in Joint mode and slowly press the axis against the mechanical end.

2

Make a note of the RANG value of the corresponding axis in Joint mode which is shown in the current position.

3

On the RANG window, change the current RANG value of the corresponding axis to the value of the note.
For manner of operation, please refer to "Manual Input Operation of RANG and CALSET Values" of TEACH PENDANT OPERATION GUIDE.