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ID : 5633
CALSET
What Is CALSET?
CALSET refers to calibrating the relation between the actual robot position and the positional information of the controller. CALSET uses a previously determined axis position where an axis can be secured. It creates 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.
CALSET is complete when the user moves each axis of the robot to the CALSET position by hand and use the teach pendant to have the controller recognize the position information.
- The CALSET data is different for each robot.
- CALSET must be performed when any of the motors is replaced or the encoder backup battery goes dead and 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 "Backup of Projects".
Factory Defaults of Robot
The robot unit is not equipped with encoder backup batteries at factory shipment. After installing batteries, be sure to perform CALSET as follows:
Preparation for CALSET
Manually move each axis of the robot until it is pressed against a mechanical stopper or CALSET jig to determine the CALSET position.
L Axis
| CALSET jig | Manual operation and CALSET position | CALSET position |
|---|---|---|
| Use of mechanical stopper | Press the L axis against the mechanical stopper at the negative direction end. |  |
| Use of bolt (Performing CALSET on multiple L axes on one rail) |
Install a bolt into a tapped hole on the connecting plate, and press the L axis against it in the negative direction. After performing CALSET, be sure to remove the bolt and keep it carefully. Bolt: Misumi Corporation product Model: MSB12-50 |
|
Y Axis and Z Axis
| CALSET jig | Manual operation and CALSET position | CALSET position |
|---|---|---|
| Not needed | Press the slider against the negative direction end. Be careful of dropping when releasing the brake if equipped. The Z axis falls by its own weight. Make adjustment while pressing it against the CALSET position. |
|
S Axis
| CALSET jig | Manual operation and CALSET position | CALSET position |
|---|---|---|
| Not needed | Press the slider against the negative direction end. |
|
Operation Using a Teach Pendant
Set user level "Maintainer".
Operation path: Press [F2 Arm] - [F12 Maintenance] - [CALSET] (menu) - [CALSET].
1
[CALSET Setting] window is displayed.
2
Select [ON] or [OFF] of the CALSET target axis and press [OK]. A system message for confirmation appears.
3
Press [OK] to complete CALSET of the relevant axis.
ID : 5633