Download STARTUP HANDBOOK

Step 7
Performing CAL (calibration) (for **-D series and XYC series only)
CAL stands for calibration, which actuates all robot axes to move the robot arm in
small motions in order to confirm the current arm position after the controller power
is turned ON.
The CAL procedure is described below.
Remarks
For the **-E/-F/-G series (except XYC series) and VM-6083D/-60B1D robots, skip
Step 7 since no CAL is required. (Performing CAL even for those robots generates
no problem.)
Only the **-D series and XYC series require CAL to run the robot using accurate
values.
Caution
Performing CAL will move the robot arm. Before proceeding, be sure that all workers
have left the robot’s restricted space and that there are no obstacles in the robot’s
restricted space.
F6
Step 8
c Press [F6 Aux.] with the [Current
Robot Position] window
displayed.
Selecting Manual mode and running the robot manually
c Press [M-MOD].
The [Operation Mode] window is
displayed.
7-13