Denso VM-6083G, Installation & Maintenance Manual

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2.3.2 2nd-axis and 3rd-axis Mechanical Ends Change
[ 1 ] What is the 2nd-axis and 3rd-axis Mechanical Ends Change?
At the time of delivery from the factory, mechanical ends are preset in the VM-6083G
and VM-60B1G series so that the workable angle of the 2nd-axis and 3rd-axis will be
as listed in the table below (factory default).
Note: The limit to the workable angle of the robot is defined by the software motion
limits. The software motion limits are set inside the mechanical end positions.
Workable angle at shipping for VM-G series
Model Workable angle for the 2nd-axis Workable angle for the 3rd-axis
VM-6083G series
VM-6083G-W series
+135°, -90° +165°, -80°
VM-60B1G series
VM-60B1G-W series
+135°, -90° +168°, -80°
Changing the mechanical ends of the 2nd-axis and 3rd-axis by adding mechanical
stops is called a mechanical end change.
To change the mechanical ends of the 2nd-axis and 3rd-axis, the mechanical stoppers
should be prepared by the customer.
Caution: After changing the mechanical ends, change the software motion limits to the
positions inside the mechanical end positions.
And also, if you change the RANG values required after a mechanical end change, the
CALSET must also be performed.
Note : RANG refers to a reference angle that determines the relationship between the
reference position of the robot and the mechanical ends, and is also called a ready
angle.
(1) When CALSET is necessary (e.g., at the time of motor replacement), if you
perform CALSET after removing the mechanical stop parts (prepared by the
customer), a mechanical end change requires no RANG value change or
CALSET.
(2) If you perform CALSET with the mechanical stop parts (prepared by the
customer) being mounted, a mechanical end change requires RANG value
change and CALSET. In this case, the position repeatability depends on the
mechanical stop parts prepared by the customer.
The initialization floppy disk holds the factory defaults of the initial RANG values
and CALSET values. After performing CALSET, the customer needs to manage
the RANG values and CALSET values modified.
The following examples for the 2nd- and 3rd-axis mechanical end changes do not
involve the RANG value change or CALSET.