Fanuc Robot How To Master

[Benita Vandervoort]

After realizing I should have used quick master (I have the inspection data sheet) I started over by: entering the reference position counts for all joints from the IDS, setting $REF_DONE to TRUE, $MASTER_DONE to FALSE, moved to the scribe marks, then used quick master and calibrate.

My problem now is that when I jog all the joints to their 0 position, joint 4 is off by about 6.5mm.

Did my use of zero position master affect the reference or encoder counts in any way? Have I effectively rendered the $MASTER_COUNT on the IDS useless?

I realize this is an old post but I am trying to remaster but can't find what I need to in order to jog the robot to the witness marks. I have a SRVO-83 which I have seen before and required remastering. I have a used robot and downloaded my program into it and I am certain it destroyed the old mastering.

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I guess you mean a SRVO-038 alarm. What exactly did you do? Did you restore an AoA backup? Did the error first occur after you have loaded your program? Are there any other alarms? Which controller type and software version are you using?

A SRVO-038 alarm does not necessarily mean that a mastering is required. First I would suggest to jog the robot to the zero position. Then verify the witness marks. If everything is okay you could reset the pulsecoder alarm and power cycle the controller. After that, set the system variable $DMR_GRP[1].$MASTER_DONE to TRUE and calibrate the robot.

You don't need to master the robot when you have a pulse mismatch. Pulse mismatch means the last known position is different. Basically the controller and the robot don't match. This can happen if someone shut the robot off in mid cycle or you loaded a backup sysmast file. Simply reset the PCA set the master done to true. Verify zero by jogging it to zero on the TP

Hello, I have a similar problem with robot calibration. Now, when the torch is rotated in the Tool mode along the rotation axes, the TCP point is shifted by 2-3 mm, although it should be stationary. That I should use Quick Master or Zero Position Master. I know that Zero Position Master has already been done before me. Does it make sense to set all joints by labels and execute SET QUICK MASTER REF?

You could perform a quick test before thinking about mastering the robot. Jog the robot in a straight line in X or Y direction relative to world or to a user frame which is already taught (if there is one). If the TCP deviates from the straight X or Y path then mastering could help. Check the position of the TCP also visual and not only by the position data.

This procedure will help you recover the calibration of the robot. You cannot quick master a robot unless the quick master reference position has been previously recorded. You must clear any servo faults that prevent you from jogging the robot. All axis must be at less then 1 motor turn from the reference position recorded. This procedure must be done with controller selector key to T1 and teach pendant to ON.

Dear Friends.

We had a Arc mate 120ic/10L with R30iA controller.

It's TCP is not perfect.when we bring the torch to the Fixed pointer after calculation the tool frame, and when we rotate it, there is a shift of 4-5 mm.

So, I am doubting on the mastering,as six month ago there was SRVO 62 alarm and we had re mastered the robot and error has gone.

Now

Both are different.

As per theory and my understanding it should be same when the robot is a Zero position mastering position.

can any body help us in figuring out that Mastering is OK or Not.

You did your TCP using the six point method entry?

When you were doing you TCP, did you check to be sure the wire were always the same lenght ?

Because when you move the robot to teach a new point, specially the last 2 point, sometime the distance between the tip and the end of the wire may vary as the robot move.

Sorry for my bad english... hope that help and again, 4-5MM is not so bad. When you teach the point in a program, you will not have a shift of 4-5MM as this should not really affect the repetability of the robot

I am not able to decide whether the mastering is bad.

Shall I have to do the fixture mastering because Zero mastering is not improving the result.

even Fanuc guys does not have fixtures for mastering.

hey guys,

I got a document which came along with robot.It has mastercounts mentioned over it.But there are two types of mastercounts, One is with Vision and another is without vision.Both are different.

Before you told there were values in the ref_count. This means there was a reference set at some point?? If ref_pos is all 0. This value is your original mastercount and you can Quickmaster with this one. Compare the values of the ref_count with those on the datasheet of the robot.

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