Denso VM-6083G, Installation & Maintenance Manual

Page: 72 / 112

54
2.4 CALSET
2.4.1 What Is CALSET?
Calibrating the relationship between position-related information recognized by the
robot controller and the actual position of the robot unit is called CALSET.
CALSET must be performed when the motor is replaced or when the encoder backup
battery goes dead and the position-related data retained in the encoder is lost as a
result.
After CALSET is completed, the calibrated data of the robot unit will be stored in the
robot controller. This data is called CALSET data which is different on each robot.
This robot has been CALSET before delivery and the CALSET data is stored in the
floppy disks that come with the robot unit. Therefore, even if the memory backup
battery in the robot controller dies so that the CALSET data is lost, you do not need to
CALSET the robot. Just reload the CALSET data from the floppy disks.
2.4.2 Precautions about CALSET for the VM-G Series
(For models having no mechanical stop on the 4th-axis)
Robots in the VM-6083G/VM-60B1G series launched have no mechanical stop on
the 4th-axis .
If the 4th-axis CALSET position is wrongly set by one rotation (360
°
) while
CALSET is being carried out, the internal wiring may be caught in the crank and
broken.
To carry out CALSET with a robot with no 4th-axis mechanical stop, check the
normal 4th-axis position first as described below.
Note that turning the 4th-axis section by more than 360
°
may break the internal wiring