4th-axis CALSET position

The 4th axis physically rotates 360°or more but it is not a boundless rotation joint. It has no mechanical ends.

Follow the procedure below and set the 4th axis in a correct CALSET position.

Performing CALSET in a wrong position may break internal wiring.

1

Release the brake of the 4th axis.

Refer to "Releasing Brakes on Individual Axes".

2

Rotate the 4th axis by hand in the positive direction (counterclockwise seen from the top end of the arm) slowly but surely until it gets blocked.

3

Rotate the 4th axis in the negative direction (clockwise seen from the top end of the arm) from the position it got blocked in STEP 2 by hand until it comes to the following position (around plus 30°).

Set the 4th-axis CALSET bolt in that position shown in the figure.

The 4th-axis CALSET bolt is stored in the encoder backup battery box.

Refer to "Encoder Backup Battery Box".

4

Rotate the 4th axis in the negative direction by hand and gently press it against the 4th-axis CALSET bolt for performing CALSET.