R J2 Remastering 4r3h6
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MARO2HT4405801E
E
MASTERING E–1 When you master a robot you define the physical location of the robot by synchronizing the mechanical information with the robot’s positional information. A robot must be mastered to operate properly. Robots are usually mastered before they leave FANUC Robotics. However, it is possible that a robot might lose its mastering data and need remastering.
Topics In This Appendix
Robots
Resetting Alarms and Preparing for Mastering
All except P-200
When to Use
Page
When you power up the robot after disconnecting the pulsecoder backup batteries you might see a SRVO–062 BZAL or SRVO–038 Pulse mismatch alarm. Before mastering the robot you must reset the alarm and rotate the motor of each axis that lost battery power to prepare the robot for mastering. . . . . . . . . . . . . . . . . . . . . . E–3
Mastering to a Fixture (Fixture Position Master)
All except P-200
When mastery was lost due to mechanical disassembly or repair. When a quick master reference position was not previously set. Method of choice for P- and A-series robots. Used for S- and M-series robots when extreme precision is required. Method of choice for A-series robots. Used for S-series and M-Series robots when extreme precision is required. . . . . . . . . . . . . . . . . . . . . . E–6
Zero Degree Mastering
M-series
When mastery was lost due to mechanical disassembly or repair. When a quick master reference position was not previously set. Method of choice for S- and M-series robots when extreme precision is not required. . . . . . . . . . . . . . . . . . E–8
S-series P-series
Single Axis Mastering
S-series M-series P-series
Quick Mastering
All
When mastery was lost due to mechanical disassembly or repair of a single axis (usually due to motor replacement). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E–10 To retrieve mastering data that has been stored as a quick master reference position when mastery is lost due to an electrical or software problem. Do not use if mastery was lost due to mechanical disassembly or repair. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E–13
Before you master the robot, you must clear any faults that prevent servo power from being restored or that prevent mastering completion. Use Procedure E–1 to clear common faults related to mastering and to prepare the robot for mastering. For more detailed information on fault recovery, refer to the FANUC Robotics SYSTEM R-J2 Controller Series Electrical Connection and Maintenance Manual.
E. MASTERING
E–2
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If you are using a FANUC Robotics A-series or P-series robot you should use a mastering fixture to master your robot. Refer to the FANUC Robotics SYSTEM R-J2 Controller Mechanical Connection and Maintenance Manual specific to your robot model for procedures on how to set up and use a mastering fixture. NOTE If you are using a FANUC Robotics P-series robot, and you have witness marks scored onto your robot, then you can master the robot to zero degrees. Refer to the Mechanical Service Manual specific to your robot model for more information If you are using a FANUC Robotics M-series or S-series robot you can either master to a fixture or you can master to zero degrees. Refer to the FANUC Robotics SYSTEM R-J2 Controller Mechanical Connection and Maintenance Manual specific to your robot model for more information on mastery using a fixture. Quick mastering is a convenient way to master an M-series, P-series or S-series robot after you have recorded a reference position. You cannot quick master a robot unless the reference position was taught before mastering was lost. CAUTION Record the quick master reference position after the robot is installed to preserve the factory mastering settings for future remastering.
E. MASTERING
E–3
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E.1 RESETTING ALARMS AND PREPARING FOR MASTERING
When you power up the robot after disconnecting the pulsecoder backup batteries you might see a SRVO–062 BZAL or SRV0–038 Pulse mismatch alarm. Before mastering the robot you must reset the alarm and rotate the motor of each axis that lost battery power to prepare the robot for mastering. Use Procedure E–1 to reset these alarms and prepare the robot for mastering.
Procedure E–1 Preparing the Robot for Mastering Condition Step
You see a SRVO–062 BZAL or SRVO–038 Servo mismatch alarm. 1 Replace the robot batteries with four new 1.5 volt alkaline batteries, size D. Observe the direction arrows in the battery box for proper orientation of the batteries. 2 Press MENUS. 3
Select SYSTEM.
4
Press F1, [TYPE].
5
Select Master/Cal. If Master/Cal is not listed on the [TYPE] menu, do the following; otherwise, continue to Step 6. a Select VARIABLE from the [TYPE] menu. b Move the cursor to $MASTER_ENB. c Press the numeric key “1” and then press ENTER on the teach pendant. d Press F1, [TYPE]. e Select Master/Cal. You will see a screen similar to the following.
SYSTEM Master/Cal 1 2 3 4 5 6
T 10%
FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE
Press ’ENTER’ or number key to select.
[ TYPE ]
LOAD
RES_PCA
DONE
E. MASTERING
E–4
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WARNING For M-6i (ARC Mate 100i), M-16i (ARC Mate 120i), M-16iL (ARC Mate 120iL), S-6 (ARC Mate 100), and S-12 (ARC Mate 120) robots, setting TORQUE to OFF using the TORQUE function key on the SYSTEM Master/Cal screen releases the robot brakes. When the brakes are released, the robot arm will drop suddenly unless it is ed. DO NOT use this function key unless instructed to do so, otherwise, personnel could be injured and equipment damaged.
6
Press F3, RES_PCA. You will see a screen similar to the following.
SYSTEM Master/Cal 1 2 3 4 5 6
T 10%
FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE
Press ’ENTER’ or number key to select. Reset pulse coder alarm? [NO] [ TYPE ]
7
YES
NO
Press F4, YES. You will see a screen similar to the following.
SYSTEM Master/Cal 1 2 3 4 5 6
T 10%
FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE Pulse coder alarm reset!
[ TYPE ]
LOAD
RES_PCA
DONE
E. MASTERING
E–5
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WARNING For M-6i (ARC Mate 100i), M-16i (ARC Mate 120i), M-16iL (ARC Mate 120iL), S-6 (ARC Mate 100), and S-12 (ARC Mate 120) robots, setting TORQUE to OFF using the TORQUE function key on the SYSTEM Master/Cal screen releases the robot brakes. When the brakes are released, the robot arm will drop suddenly unless it is ed. DO NOT use this function key unless instructed to do so, otherwise, personnel could be injured and equipment damaged.
8
If the SRVO–062 alarm is still present; there is a battery, cable or pulsecoder problem. Refer to the FANUC Robotics SYSTEM R-J2 Controller Series Electrical Connection and Maintenance Manual for further information.
9
If a SRVO–038 alarm is present at this time, repeat Step 6 to reset it. It is not necessary to cold start the robot after resetting to clear this alarm.
10 Rotate each axis that lost battery power by at least one motor revolution in either direction. a Jog each rotary axis at least twenty degrees. b Jog each linear axis at least thirty millimeters. 11 Perform any of the mastering procedures from the MASTER/CAL menu.
E. MASTERING
E–6
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E.2 MASTERING TO A FIXTURE (FIXTURE POSITION MASTER)
When you master to a fixture, you use a mastering fixture to align the robot axes and then record the position. You can master any robot to a fixture. If you have a P-series or A-series robot, you must master it to a fixture. NOTE If you have an M-6i (ARC Mate 100i), S-6 (ARC Mate 100), or S-12 (ARC Mate 120) robot, do not use Procedure E–2 . These robots require that servo power be removed and brakes released in order to use the fixture. Refer to the FANUC Robotics SYSTEM R-J2 Controller Mechanical Connection and Maintenance Manual for detailed procedures on mastering these robots to a fixture. Use Procedure E–2 to master to a fixture.
Procedure E–2 Mastering to a Fixture (for all robots except S-6 and S-12) Condition
You have the appropriate mastering fixture for your robot. You have cleared any servo faults that prevent you from jogging the robot. You have jogged each axis that has lost mastery at least one motor turn. (Procedure E–1 )
Step
1 Install the mastering fixture on the robot and jog the robot into mastering position. Refer to the FANUC Robotics SYSTEM R-J2 Controller Mechanical Connection and Maintenance Manual specific to your robot model for the procedures on how to set up and use a mastering fixture. 2
Press MENUS.
3
Select SYSTEM.
4
Press F1, [TYPE].
5
Select Master/Cal. If Master/Cal is not listed on the [TYPE] menu, do the following; otherwise, continue to Step 6. a Select VARIABLE from the [TYPE] menu. b Move the cursor to $MASTER_ENB. c Press the numeric key “1” and then press ENTER on the teach pendant. d Press F1, [TYPE].
E. MASTERING
E–7
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e Select Master/Cal. You will see a screen similar to the following.
SYSTEM Master/Cal 1 2 3 4 5 6
T 10%
FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE
Press ’ENTER’ or number key to select.
[ TYPE ]
LOAD
RES_PCA
DONE
WARNING For M-6i (ARC Mate 100i), M-16i (ARC Mate 120i), M-16iL (ARC Mate 120iL), S-6 (ARC Mate 100), and S-12 (ARC Mate 120) robots, setting TORQUE to OFF using the TORQUE function key on the SYSTEM Master/Cal screen releases the robot brakes. When the brakes are released, the robot arm will drop suddenly unless it is ed. DO NOT use this function key unless instructed to do so, otherwise, personnel could be injured and equipment damaged.
SHIFT
6
Select Fixture Position Master.
7
Select Calibrate.
8
Press F4, YES.
9
Perform a cold start. a Turn off the robot. b Press and continue pressing the SHIFT and RESET key on the teach pendant.
SHIFT RESET
c While still pressing SHIFT and RESET, press the ON button on the operator .
E. MASTERING
E–8
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E.3
When you master to zero degrees, you position all axes at their zero degree witness marks and record the zero degree position. You can master any M-series or S-series robot to zero degrees.
ZERO DEGREE MASTERING
NOTE If you are mastering an S-420iR robot, you cannot use this mastering method. Use one of the other mastering methods described in Sections E.2, E.4, and E.5. Use Procedure E–3 to master to zero degrees. Procedure E–3 Mastering to Zero Degrees (for all robots except S-420iR) Condition
You have cleared any servo faults that prevent you from jogging the robot. You have jogged each axis that has lost mastery at least one motor turn. (Procedure E–1 )
Step
1 Using the t coordinate system, jog each axis of the robot to the zero degree witness mark. Refer to the FANUC Robotics SYSTEM R-J2 Controller Mechanical Connection and Maintenance Manual specific to your robot model for the location of the witness marks. 2
Press MENUS.
3
Select SYSTEM.
4
Press F1, [TYPE].
5
Select Master/Cal. If Master/Cal is not listed on the [TYPE] menu, do the following; otherwise, continue to Step 6. a Select VARIABLE from the [TYPE] menu. b Move the cursor to $MASTER_ENB. c Press the numeric key “1” and then press ENTER on the teach pendant. d Press F1, [TYPE].
E. MASTERING
E–9
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e Select Master/Cal. You will see a screen similar to the following. SYSTEM Master/Cal 1 2 3 4 5 6
T 10%
FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE
Press ’ENTER’ or number key to select. [ TYPE ]
LOAD
RES_PCA
DONE
WARNING For M-6i (ARC Mate 100i), M-16i (ARC Mate 120i), M-16iL (ARC Mate 120iL), S-6 (ARC Mate 100), and S-12 (ARC Mate 120) robots, setting TORQUE to OFF using the TORQUE function key on the SYSTEM Master/Cal screen releases the robot brakes. When the brakes are released, the robot arm will drop suddenly unless it is ed. DO NOT use this function key unless instructed to do so, otherwise, personnel could be injured and equipment damaged.
6
Select Zero Position Master.
7
Press F4, YES. Mastering will be performed automatically.
8
Select Calibrate.
9
Press F4, YES.
10 Perform a cold start. SHIFT
a Turn off the robot. b Press and continue pressing the SHIFT and RESET key on the teach pendant.
SHIFT RESET
c While still pressing SHIFT and RESET, press the ON button on the operator .
E. MASTERING
E–10
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E.4
You can master a single axis of an M-series or S-series robot when mastery was lost due to mechanical disassembly or repair of a single axis, usually due to motor replacement.
SINGLE AXIS MASTERING
Use Procedure E–4 to master a single axis. Procedure E–4 Mastering a Single Axis
NOTE For the S-420iR robot, when the witness marks are aligned for axes J2 and J3, the t angles are as follows: J2: –15 J3: –15 Condition
You have cleared any servo faults that prevent you from jogging the robot. You have jogged each axis that has lost mastery at least one motor turn. (Procedure E–1 )
Step
1 Using the t coordinate system, jog the unmastered axis of the robot to the zero degree witness mark. Refer to the FANUC Robotics SYSTEM R-J2 Controller Mechanical Connection and Maintenance Manual specific to your robot model for the location of the witness marks. 2
Press MENUS.
3
Select SYSTEM.
4
Press F1, [TYPE].
5
Select Master/Cal. If Master/Cal is not listed on the [TYPE] menu, do the following; otherwise, continue to Step 6. a Select VARIABLES from the [TYPE] menu. b Move the cursor to $MASTER_ENB. c Press the numeric key “1” and then press ENTER on the teach pendant. d Press F1, [TYPE].
E. MASTERING
E–11
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e Select Master/Cal. You will see a screen similar to the following.
SYSTEM Master/Cal 1 2 3 4 5 6
T 10%
FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE
Press ’ENTER’ or number key to select.
[ TYPE ]
LOAD
RES_PCA
DONE
WARNING For M-6i (ARC Mate 100i), M-16i (ARC Mate 120i), M-16iL (ARC Mate 120iL), S-6 (ARC Mate 100), and S-12 (ARC Mate 120) robots, setting TORQUE to OFF using the TORQUE function key on the SYSTEM Master/Cal screen releases the robot brakes. When the brakes are released, the robot arm will drop suddenly unless it is ed. DO NOT use this function key unless instructed to do so, otherwise, personnel could be injured and equipment damaged. 6
Select 4, Single Axis Master. You will see a screen similar to the following.
SINGLE AXIS MASTER ACTUAL POS J1 0.000 J2 3.514 J3 –7.164 J4 –357.366 J5 –1.275 J6 4.571 E1 0.000 E2 0.000 E3 0.000 [ TYPE ]
(MSTR POS) ( 0.000) ( 35.000) (–100.000) ( 0.000) ( –80.000) ( 0.000) ( 0.000) ( 0.000) ( 0.000)
T 10% 1/9 (SEL) [ST] (0) [2] (0) [0] (0) [2] (0) [2] (0) [2] (0) [2] (0) [0] (0) [0] (0) [0]
GROUP
EXEC
7
Move the cursor to the MSTR POS column for the unmastered axis and press the “0” key.
8
Continuously press and hold the DEAN switch and turn the teach pendant ON/OFF switch to ON.
E. MASTERING
E–12
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9
Move the cursor to the SEL column for the unmastered axis and press the numeric key “1.”
10 Press ENTER. 11 Press F5, EXEC. Mastering will be performed automatically. 12 Press PREV. 13 Select Calibrate. 14 Press F4, YES. 15 Perform a cold start. SHIFT
a Turn off the robot. b Press and continue pressing the SHIFT and RESET key on the teach pendant.
SHIFT RESET
c While still pressing SHIFT and RESET, press the ON button on the operator .
E. MASTERING
E–13
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E.5 QUICK MASTERING
Quick mastering allows you to minimize the time required to remaster the robot using a reference position you established when the robot was properly mastered. You cannot quick master the robot unless you have previously recorded this quick master reference position. Record the quick master reference position when the robot is properly mastered. The best time to record the quick master reference position is when the robot is still factory-mastered. If you lose mastery due to an electrical or software problem, you can use this reference position to master the robot in a minimum amount of time. If you lose mastery due to mechanical disassembly or repair, you must master to a fixture or perform zero degree mastering. You can define a quick master reference position and perform quick mastering on any robot model. Use Procedure E–5 to record the quick master reference position. Use Procedure E–6 to quick master the robot. CAUTION Record the quick master reference position after the robot is installed to preserve the factory mastering settings for future remastering.
Procedure E–5 Recording the Quick Master Reference Position
NOTE For the S-420iR robot, when the witness marks are aligned for axes J2 and J3, the t angles are as follows: J2: –15 J3: –15 Condition Step
The robot is properly mastered. 1
Align the witness marks on the robot. This is the zero position, which will be the quick master reference position. Refer to the FANUC Robotics SYSTEM R-J2 Controller Mechanical Connection and Maintenance Manual specific to your robot model for the location of the witness marks.
2
Press MENUS.
3
Select SYSTEM.
4
Press F1, [TYPE].
E. MASTERING
E–14
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5
Select Master/Cal. If Master/Cal is not listed on the [TYPE] menu, do the following; otherwise, continue to Step 6. a Select VARIABLE from the [TYPE] menu. b Move the cursor to $MASTER_ENB. c Press the numeric key “1” and then press ENTER on the teach pendant. d Press F1, [TYPE]. e Select Master/Cal. You will see a screen similar to the following.
SYSTEM Master/Cal 1 2 3 4 5 6
T 10%
FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE
Press ’ENTER’ or number key to select. [ TYPE ]
LOAD
RES_PCA
DONE
WARNING For M-6i (ARC Mate 100i), M-16i (ARC Mate 120i), M-16iL (ARC Mate 120iL), S-6 (ARC Mate 100), and S-12 (ARC Mate 120) robots, setting TORQUE to OFF using the TORQUE function key on the SYSTEM Master/Cal screen releases the robot brakes. When the brakes are released, the robot arm will drop suddenly unless it is ed. DO NOT use this function key unless instructed to do so, otherwise, personnel could be injured and equipment damaged. Set quick master ref? [NO]
SHIFT
6
Move the cursor to SET QUICK MASTER REF and press ENTER.
7
Press F4, YES.
8
Perform a cold start. a Turn off the robot.
SHIFT RESET
b Press and continue pressing the SHIFT and RESET key on the teach pendant. c While still pressing SHIFT and RESET, press the ON button on the operator .
E. MASTERING
E–15
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Procedure E–6 Quick Mastering the Robot Condition
The robot has lost mastery due to an electrical or software problem. NOTE If the robot has lost mastery due to mechanical disassembly or repair, you cannot perform this procedure. In this case, master to a fixture or master to zero degrees to restore robot mastering. The quick master reference position was recorded before the robot lost mastery. You have cleared any servo faults that prevent you from jogging the robot. You have jogged each axis that has lost mastery at least one motor turn. See Procedure E–1 .
Step
1 Jog the robot to the quick master reference position (zero degree position). 2 Press MENUS. 3 4
Select SYSTEM. Press F1, [TYPE].
5
Select Master/Cal. If Master/Cal is not listed on the [TYPE] menu, do the following; otherwise, continue to Step 6. a Select VARIABLE from the [TYPE] menu. b Move the cursor to $MASTER_ENB. c Press the numeric key “1” and then press ENTER on the teach pendant. d Press F1, [TYPE].
E. MASTERING
E–16
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e Select Master/Cal. You will see a screen similar to the following. WARNING For M-6i (ARC Mate 100i), M-16i (ARC Mate 120i), M-16iL (ARC Mate 120iL), S-6 (ARC Mate 100), and S-12 (ARC Mate 120) robots, setting TORQUE to OFF using the TORQUE function key on the SYSTEM Master/Cal screen releases the robot brakes. When the brakes are released, the robot arm will drop suddenly unless it is ed. DO NOT use this function key unless instructed to do so, otherwise, personnel could be injured and equipment damaged.
SYSTEM Master/Cal 1 2 3 4 5 6
T 10%
FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE
Press ’ENTER’ or number key to select. [ TYPE ]
Quick master? [NO]
LOAD
RES_PCA
DONE
6
Move the cursor to QUICK MASTER and press ENTER.
7
Press F4, YES.
8
Move the cursor to CALIBRATE and press ENTER
9
Press F4, YES.
10 Perform a cold start. SHIFT
a Turn off the robot. b Press and continue pressing the SHIFT and RESET key on the teach pendant.
SHIFT RESET
c While still pressing SHIFT and RESET, press the ON button on the operator .
E
MASTERING E–1 When you master a robot you define the physical location of the robot by synchronizing the mechanical information with the robot’s positional information. A robot must be mastered to operate properly. Robots are usually mastered before they leave FANUC Robotics. However, it is possible that a robot might lose its mastering data and need remastering.
Topics In This Appendix
Robots
Resetting Alarms and Preparing for Mastering
All except P-200
When to Use
Page
When you power up the robot after disconnecting the pulsecoder backup batteries you might see a SRVO–062 BZAL or SRVO–038 Pulse mismatch alarm. Before mastering the robot you must reset the alarm and rotate the motor of each axis that lost battery power to prepare the robot for mastering. . . . . . . . . . . . . . . . . . . . . . E–3
Mastering to a Fixture (Fixture Position Master)
All except P-200
When mastery was lost due to mechanical disassembly or repair. When a quick master reference position was not previously set. Method of choice for P- and A-series robots. Used for S- and M-series robots when extreme precision is required. Method of choice for A-series robots. Used for S-series and M-Series robots when extreme precision is required. . . . . . . . . . . . . . . . . . . . . . E–6
Zero Degree Mastering
M-series
When mastery was lost due to mechanical disassembly or repair. When a quick master reference position was not previously set. Method of choice for S- and M-series robots when extreme precision is not required. . . . . . . . . . . . . . . . . . E–8
S-series P-series
Single Axis Mastering
S-series M-series P-series
Quick Mastering
All
When mastery was lost due to mechanical disassembly or repair of a single axis (usually due to motor replacement). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E–10 To retrieve mastering data that has been stored as a quick master reference position when mastery is lost due to an electrical or software problem. Do not use if mastery was lost due to mechanical disassembly or repair. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E–13
Before you master the robot, you must clear any faults that prevent servo power from being restored or that prevent mastering completion. Use Procedure E–1 to clear common faults related to mastering and to prepare the robot for mastering. For more detailed information on fault recovery, refer to the FANUC Robotics SYSTEM R-J2 Controller Series Electrical Connection and Maintenance Manual.
E. MASTERING
E–2
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If you are using a FANUC Robotics A-series or P-series robot you should use a mastering fixture to master your robot. Refer to the FANUC Robotics SYSTEM R-J2 Controller Mechanical Connection and Maintenance Manual specific to your robot model for procedures on how to set up and use a mastering fixture. NOTE If you are using a FANUC Robotics P-series robot, and you have witness marks scored onto your robot, then you can master the robot to zero degrees. Refer to the Mechanical Service Manual specific to your robot model for more information If you are using a FANUC Robotics M-series or S-series robot you can either master to a fixture or you can master to zero degrees. Refer to the FANUC Robotics SYSTEM R-J2 Controller Mechanical Connection and Maintenance Manual specific to your robot model for more information on mastery using a fixture. Quick mastering is a convenient way to master an M-series, P-series or S-series robot after you have recorded a reference position. You cannot quick master a robot unless the reference position was taught before mastering was lost. CAUTION Record the quick master reference position after the robot is installed to preserve the factory mastering settings for future remastering.
E. MASTERING
E–3
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E.1 RESETTING ALARMS AND PREPARING FOR MASTERING
When you power up the robot after disconnecting the pulsecoder backup batteries you might see a SRVO–062 BZAL or SRV0–038 Pulse mismatch alarm. Before mastering the robot you must reset the alarm and rotate the motor of each axis that lost battery power to prepare the robot for mastering. Use Procedure E–1 to reset these alarms and prepare the robot for mastering.
Procedure E–1 Preparing the Robot for Mastering Condition Step
You see a SRVO–062 BZAL or SRVO–038 Servo mismatch alarm. 1 Replace the robot batteries with four new 1.5 volt alkaline batteries, size D. Observe the direction arrows in the battery box for proper orientation of the batteries. 2 Press MENUS. 3
Select SYSTEM.
4
Press F1, [TYPE].
5
Select Master/Cal. If Master/Cal is not listed on the [TYPE] menu, do the following; otherwise, continue to Step 6. a Select VARIABLE from the [TYPE] menu. b Move the cursor to $MASTER_ENB. c Press the numeric key “1” and then press ENTER on the teach pendant. d Press F1, [TYPE]. e Select Master/Cal. You will see a screen similar to the following.
SYSTEM Master/Cal 1 2 3 4 5 6
T 10%
FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE
Press ’ENTER’ or number key to select.
[ TYPE ]
LOAD
RES_PCA
DONE
E. MASTERING
E–4
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WARNING For M-6i (ARC Mate 100i), M-16i (ARC Mate 120i), M-16iL (ARC Mate 120iL), S-6 (ARC Mate 100), and S-12 (ARC Mate 120) robots, setting TORQUE to OFF using the TORQUE function key on the SYSTEM Master/Cal screen releases the robot brakes. When the brakes are released, the robot arm will drop suddenly unless it is ed. DO NOT use this function key unless instructed to do so, otherwise, personnel could be injured and equipment damaged.
6
Press F3, RES_PCA. You will see a screen similar to the following.
SYSTEM Master/Cal 1 2 3 4 5 6
T 10%
FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE
Press ’ENTER’ or number key to select. Reset pulse coder alarm? [NO] [ TYPE ]
7
YES
NO
Press F4, YES. You will see a screen similar to the following.
SYSTEM Master/Cal 1 2 3 4 5 6
T 10%
FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE Pulse coder alarm reset!
[ TYPE ]
LOAD
RES_PCA
DONE
E. MASTERING
E–5
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WARNING For M-6i (ARC Mate 100i), M-16i (ARC Mate 120i), M-16iL (ARC Mate 120iL), S-6 (ARC Mate 100), and S-12 (ARC Mate 120) robots, setting TORQUE to OFF using the TORQUE function key on the SYSTEM Master/Cal screen releases the robot brakes. When the brakes are released, the robot arm will drop suddenly unless it is ed. DO NOT use this function key unless instructed to do so, otherwise, personnel could be injured and equipment damaged.
8
If the SRVO–062 alarm is still present; there is a battery, cable or pulsecoder problem. Refer to the FANUC Robotics SYSTEM R-J2 Controller Series Electrical Connection and Maintenance Manual for further information.
9
If a SRVO–038 alarm is present at this time, repeat Step 6 to reset it. It is not necessary to cold start the robot after resetting to clear this alarm.
10 Rotate each axis that lost battery power by at least one motor revolution in either direction. a Jog each rotary axis at least twenty degrees. b Jog each linear axis at least thirty millimeters. 11 Perform any of the mastering procedures from the MASTER/CAL menu.
E. MASTERING
E–6
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E.2 MASTERING TO A FIXTURE (FIXTURE POSITION MASTER)
When you master to a fixture, you use a mastering fixture to align the robot axes and then record the position. You can master any robot to a fixture. If you have a P-series or A-series robot, you must master it to a fixture. NOTE If you have an M-6i (ARC Mate 100i), S-6 (ARC Mate 100), or S-12 (ARC Mate 120) robot, do not use Procedure E–2 . These robots require that servo power be removed and brakes released in order to use the fixture. Refer to the FANUC Robotics SYSTEM R-J2 Controller Mechanical Connection and Maintenance Manual for detailed procedures on mastering these robots to a fixture. Use Procedure E–2 to master to a fixture.
Procedure E–2 Mastering to a Fixture (for all robots except S-6 and S-12) Condition
You have the appropriate mastering fixture for your robot. You have cleared any servo faults that prevent you from jogging the robot. You have jogged each axis that has lost mastery at least one motor turn. (Procedure E–1 )
Step
1 Install the mastering fixture on the robot and jog the robot into mastering position. Refer to the FANUC Robotics SYSTEM R-J2 Controller Mechanical Connection and Maintenance Manual specific to your robot model for the procedures on how to set up and use a mastering fixture. 2
Press MENUS.
3
Select SYSTEM.
4
Press F1, [TYPE].
5
Select Master/Cal. If Master/Cal is not listed on the [TYPE] menu, do the following; otherwise, continue to Step 6. a Select VARIABLE from the [TYPE] menu. b Move the cursor to $MASTER_ENB. c Press the numeric key “1” and then press ENTER on the teach pendant. d Press F1, [TYPE].
E. MASTERING
E–7
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e Select Master/Cal. You will see a screen similar to the following.
SYSTEM Master/Cal 1 2 3 4 5 6
T 10%
FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE
Press ’ENTER’ or number key to select.
[ TYPE ]
LOAD
RES_PCA
DONE
WARNING For M-6i (ARC Mate 100i), M-16i (ARC Mate 120i), M-16iL (ARC Mate 120iL), S-6 (ARC Mate 100), and S-12 (ARC Mate 120) robots, setting TORQUE to OFF using the TORQUE function key on the SYSTEM Master/Cal screen releases the robot brakes. When the brakes are released, the robot arm will drop suddenly unless it is ed. DO NOT use this function key unless instructed to do so, otherwise, personnel could be injured and equipment damaged.
SHIFT
6
Select Fixture Position Master.
7
Select Calibrate.
8
Press F4, YES.
9
Perform a cold start. a Turn off the robot. b Press and continue pressing the SHIFT and RESET key on the teach pendant.
SHIFT RESET
c While still pressing SHIFT and RESET, press the ON button on the operator .
E. MASTERING
E–8
MARO2HT4405801E
E.3
When you master to zero degrees, you position all axes at their zero degree witness marks and record the zero degree position. You can master any M-series or S-series robot to zero degrees.
ZERO DEGREE MASTERING
NOTE If you are mastering an S-420iR robot, you cannot use this mastering method. Use one of the other mastering methods described in Sections E.2, E.4, and E.5. Use Procedure E–3 to master to zero degrees. Procedure E–3 Mastering to Zero Degrees (for all robots except S-420iR) Condition
You have cleared any servo faults that prevent you from jogging the robot. You have jogged each axis that has lost mastery at least one motor turn. (Procedure E–1 )
Step
1 Using the t coordinate system, jog each axis of the robot to the zero degree witness mark. Refer to the FANUC Robotics SYSTEM R-J2 Controller Mechanical Connection and Maintenance Manual specific to your robot model for the location of the witness marks. 2
Press MENUS.
3
Select SYSTEM.
4
Press F1, [TYPE].
5
Select Master/Cal. If Master/Cal is not listed on the [TYPE] menu, do the following; otherwise, continue to Step 6. a Select VARIABLE from the [TYPE] menu. b Move the cursor to $MASTER_ENB. c Press the numeric key “1” and then press ENTER on the teach pendant. d Press F1, [TYPE].
E. MASTERING
E–9
MARO2HT4405801E
e Select Master/Cal. You will see a screen similar to the following. SYSTEM Master/Cal 1 2 3 4 5 6
T 10%
FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE
Press ’ENTER’ or number key to select. [ TYPE ]
LOAD
RES_PCA
DONE
WARNING For M-6i (ARC Mate 100i), M-16i (ARC Mate 120i), M-16iL (ARC Mate 120iL), S-6 (ARC Mate 100), and S-12 (ARC Mate 120) robots, setting TORQUE to OFF using the TORQUE function key on the SYSTEM Master/Cal screen releases the robot brakes. When the brakes are released, the robot arm will drop suddenly unless it is ed. DO NOT use this function key unless instructed to do so, otherwise, personnel could be injured and equipment damaged.
6
Select Zero Position Master.
7
Press F4, YES. Mastering will be performed automatically.
8
Select Calibrate.
9
Press F4, YES.
10 Perform a cold start. SHIFT
a Turn off the robot. b Press and continue pressing the SHIFT and RESET key on the teach pendant.
SHIFT RESET
c While still pressing SHIFT and RESET, press the ON button on the operator .
E. MASTERING
E–10
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E.4
You can master a single axis of an M-series or S-series robot when mastery was lost due to mechanical disassembly or repair of a single axis, usually due to motor replacement.
SINGLE AXIS MASTERING
Use Procedure E–4 to master a single axis. Procedure E–4 Mastering a Single Axis
NOTE For the S-420iR robot, when the witness marks are aligned for axes J2 and J3, the t angles are as follows: J2: –15 J3: –15 Condition
You have cleared any servo faults that prevent you from jogging the robot. You have jogged each axis that has lost mastery at least one motor turn. (Procedure E–1 )
Step
1 Using the t coordinate system, jog the unmastered axis of the robot to the zero degree witness mark. Refer to the FANUC Robotics SYSTEM R-J2 Controller Mechanical Connection and Maintenance Manual specific to your robot model for the location of the witness marks. 2
Press MENUS.
3
Select SYSTEM.
4
Press F1, [TYPE].
5
Select Master/Cal. If Master/Cal is not listed on the [TYPE] menu, do the following; otherwise, continue to Step 6. a Select VARIABLES from the [TYPE] menu. b Move the cursor to $MASTER_ENB. c Press the numeric key “1” and then press ENTER on the teach pendant. d Press F1, [TYPE].
E. MASTERING
E–11
MARO2HT4405801E
e Select Master/Cal. You will see a screen similar to the following.
SYSTEM Master/Cal 1 2 3 4 5 6
T 10%
FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE
Press ’ENTER’ or number key to select.
[ TYPE ]
LOAD
RES_PCA
DONE
WARNING For M-6i (ARC Mate 100i), M-16i (ARC Mate 120i), M-16iL (ARC Mate 120iL), S-6 (ARC Mate 100), and S-12 (ARC Mate 120) robots, setting TORQUE to OFF using the TORQUE function key on the SYSTEM Master/Cal screen releases the robot brakes. When the brakes are released, the robot arm will drop suddenly unless it is ed. DO NOT use this function key unless instructed to do so, otherwise, personnel could be injured and equipment damaged. 6
Select 4, Single Axis Master. You will see a screen similar to the following.
SINGLE AXIS MASTER ACTUAL POS J1 0.000 J2 3.514 J3 –7.164 J4 –357.366 J5 –1.275 J6 4.571 E1 0.000 E2 0.000 E3 0.000 [ TYPE ]
(MSTR POS) ( 0.000) ( 35.000) (–100.000) ( 0.000) ( –80.000) ( 0.000) ( 0.000) ( 0.000) ( 0.000)
T 10% 1/9 (SEL) [ST] (0) [2] (0) [0] (0) [2] (0) [2] (0) [2] (0) [2] (0) [0] (0) [0] (0) [0]
GROUP
EXEC
7
Move the cursor to the MSTR POS column for the unmastered axis and press the “0” key.
8
Continuously press and hold the DEAN switch and turn the teach pendant ON/OFF switch to ON.
E. MASTERING
E–12
MARO2HT4405801E
9
Move the cursor to the SEL column for the unmastered axis and press the numeric key “1.”
10 Press ENTER. 11 Press F5, EXEC. Mastering will be performed automatically. 12 Press PREV. 13 Select Calibrate. 14 Press F4, YES. 15 Perform a cold start. SHIFT
a Turn off the robot. b Press and continue pressing the SHIFT and RESET key on the teach pendant.
SHIFT RESET
c While still pressing SHIFT and RESET, press the ON button on the operator .
E. MASTERING
E–13
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E.5 QUICK MASTERING
Quick mastering allows you to minimize the time required to remaster the robot using a reference position you established when the robot was properly mastered. You cannot quick master the robot unless you have previously recorded this quick master reference position. Record the quick master reference position when the robot is properly mastered. The best time to record the quick master reference position is when the robot is still factory-mastered. If you lose mastery due to an electrical or software problem, you can use this reference position to master the robot in a minimum amount of time. If you lose mastery due to mechanical disassembly or repair, you must master to a fixture or perform zero degree mastering. You can define a quick master reference position and perform quick mastering on any robot model. Use Procedure E–5 to record the quick master reference position. Use Procedure E–6 to quick master the robot. CAUTION Record the quick master reference position after the robot is installed to preserve the factory mastering settings for future remastering.
Procedure E–5 Recording the Quick Master Reference Position
NOTE For the S-420iR robot, when the witness marks are aligned for axes J2 and J3, the t angles are as follows: J2: –15 J3: –15 Condition Step
The robot is properly mastered. 1
Align the witness marks on the robot. This is the zero position, which will be the quick master reference position. Refer to the FANUC Robotics SYSTEM R-J2 Controller Mechanical Connection and Maintenance Manual specific to your robot model for the location of the witness marks.
2
Press MENUS.
3
Select SYSTEM.
4
Press F1, [TYPE].
E. MASTERING
E–14
MARO2HT4405801E
5
Select Master/Cal. If Master/Cal is not listed on the [TYPE] menu, do the following; otherwise, continue to Step 6. a Select VARIABLE from the [TYPE] menu. b Move the cursor to $MASTER_ENB. c Press the numeric key “1” and then press ENTER on the teach pendant. d Press F1, [TYPE]. e Select Master/Cal. You will see a screen similar to the following.
SYSTEM Master/Cal 1 2 3 4 5 6
T 10%
FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE
Press ’ENTER’ or number key to select. [ TYPE ]
LOAD
RES_PCA
DONE
WARNING For M-6i (ARC Mate 100i), M-16i (ARC Mate 120i), M-16iL (ARC Mate 120iL), S-6 (ARC Mate 100), and S-12 (ARC Mate 120) robots, setting TORQUE to OFF using the TORQUE function key on the SYSTEM Master/Cal screen releases the robot brakes. When the brakes are released, the robot arm will drop suddenly unless it is ed. DO NOT use this function key unless instructed to do so, otherwise, personnel could be injured and equipment damaged. Set quick master ref? [NO]
SHIFT
6
Move the cursor to SET QUICK MASTER REF and press ENTER.
7
Press F4, YES.
8
Perform a cold start. a Turn off the robot.
SHIFT RESET
b Press and continue pressing the SHIFT and RESET key on the teach pendant. c While still pressing SHIFT and RESET, press the ON button on the operator .
E. MASTERING
E–15
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Procedure E–6 Quick Mastering the Robot Condition
The robot has lost mastery due to an electrical or software problem. NOTE If the robot has lost mastery due to mechanical disassembly or repair, you cannot perform this procedure. In this case, master to a fixture or master to zero degrees to restore robot mastering. The quick master reference position was recorded before the robot lost mastery. You have cleared any servo faults that prevent you from jogging the robot. You have jogged each axis that has lost mastery at least one motor turn. See Procedure E–1 .
Step
1 Jog the robot to the quick master reference position (zero degree position). 2 Press MENUS. 3 4
Select SYSTEM. Press F1, [TYPE].
5
Select Master/Cal. If Master/Cal is not listed on the [TYPE] menu, do the following; otherwise, continue to Step 6. a Select VARIABLE from the [TYPE] menu. b Move the cursor to $MASTER_ENB. c Press the numeric key “1” and then press ENTER on the teach pendant. d Press F1, [TYPE].
E. MASTERING
E–16
MARO2HT4405801E
e Select Master/Cal. You will see a screen similar to the following. WARNING For M-6i (ARC Mate 100i), M-16i (ARC Mate 120i), M-16iL (ARC Mate 120iL), S-6 (ARC Mate 100), and S-12 (ARC Mate 120) robots, setting TORQUE to OFF using the TORQUE function key on the SYSTEM Master/Cal screen releases the robot brakes. When the brakes are released, the robot arm will drop suddenly unless it is ed. DO NOT use this function key unless instructed to do so, otherwise, personnel could be injured and equipment damaged.
SYSTEM Master/Cal 1 2 3 4 5 6
T 10%
FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE
Press ’ENTER’ or number key to select. [ TYPE ]
Quick master? [NO]
LOAD
RES_PCA
DONE
6
Move the cursor to QUICK MASTER and press ENTER.
7
Press F4, YES.
8
Move the cursor to CALIBRATE and press ENTER
9
Press F4, YES.
10 Perform a cold start. SHIFT
a Turn off the robot. b Press and continue pressing the SHIFT and RESET key on the teach pendant.
SHIFT RESET
c While still pressing SHIFT and RESET, press the ON button on the operator .
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