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 calibration fails because pulse coder backup battery power has been interrupted, you can use this reference position to master the robot in a minimum amount of time. When the zero position marks do not line up because of 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 Recording the Quick Master Reference Position to record the quick master reference position. Use Quick Mastering the Robot to quick master the robot.
Record the quick master reference position after the robot is installed to preserve the factory mastering settings for future remastering.
Procedure 5. Recording the Quick Master Reference Position
The robot is properly mastered.
Align each axis of the robot with the reference mark you have chosen as a quick master reference position.
It is convenient to use the zero degree marks for the quick master reference position Refer to the Mechanical Unit Service Manual or Mechanical Connection and Maintenance Manual specific to your robot model for the location of the zero degree marks. But if you prefer, you can use any robot position as long as you scribe witness marks on each axis at the reference point.
Press MENU.
Select SYSTEM.
Press F1, [TYPE].
If Master/Cal is not listed on the [TYPE] menu, do the following; otherwise, continue to Step 6
Select VARIABLE.
Move the cursor to $MASTER_ENB.
Press the numeric key "1" and then press ENTER on the teach pendant.
Press F1, [TYPE].
Select Master/Cal. You will see a screen similar to the following.
SYSTEM Master/Cal 1 FIXTURE POSITION MASTER 2 ZERO POSITION MASTER 3 QUICK MASTER 4 SINGLE AXIS MASTER 5 SET QUICK MASTER REF 6 CALIBRATE Press ’ENTER’ or number key to select.
F4, TORQUE does not appear on the Master/Cal screen for all robot models. When F4, TORQUE appears on the Master/Cal screen, it allows the robot brakes to be released.
Move the cursor to SET QUICK MASTER REF and press ENTER. You will see a screen similar to the following.
SYSTEM Master/Cal 1 FIXTURE POSITION MASTER 2 ZERO POSITION MASTER 3 QUICK MASTER 4 SINGLE AXIS MASTER 5 SET QUICK MASTER REF 6 CALIBRATE Press ’ENTER’ or number key to select. Set quick master reference ? [NO]
Press F4, YES. You will see a screen similar to the following.
SYSTEM Master/Cal 1 FIXTURE POSITION MASTER 2 ZERO POSITION MASTER 3 QUICK MASTER 4 SINGLE AXIS MASTER 5 SET QUICK MASTER REF 6 CALIBRATE Quick Master Reference Set!
Procedure 6. Quick Mastering the Robot
Calibration has failed because backup battery power has been interrupted.
If the zero degree marks do not line up because of 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 calibration failed.
You have cleared any servo faults that prevent you from jogging the robot.
You have jogged each axis that has lost mastering at least one motor turn. See Preparing the Robot for Mastering
Jog the robot to the quick master reference position that has previously been recorded.
Press MENU.
Select SYSTEM.
Press F1, [TYPE].
If Master/Cal is not listed on the [TYPE] menu, do the following; otherwise, continue to Step 6
Select VARIABLE.
Move the cursor to $MASTER_ENB.
Press the numeric key "1" and then press ENTER on the teach pendant.
Press F1, [TYPE].
Move the cursor to Master/Cal and press ENTER. You will see a screen similar to the following.
SYSTEM Master/Cal 1 FIXTURE POSITION MASTER 2 ZERO POSITION MASTER 3 QUICK MASTER 4 SINGLE AXIS MASTER 5 SET QUICK MASTER REF 6 CALIBRATE Press ’ENTER’ or number key to select.
F4, TORQUE does not appear on the Master/Cal screen for all robot models. When F4, TORQUE appears on the Master/Cal screen, it allows the robot brakes to be released.
Move the cursor to QUICK MASTER and press ENTER. You will see a screen similar to the following.
SYSTEM Master/Cal 1 FIXTURE POSITION MASTER 2 ZERO POSITION MASTER 3 QUICK MASTER 4 SINGLE AXIS MASTER 5 SET QUICK MASTER REF 6 CALIBRATE Press ’ENTER’ or number key to select. Quick master ? [NO]
Press F4, YES. Mastering will be performed automatically. You will see a screen similar to the following.
SYSTEM Master/Cal 1 FIXTURE POSITION MASTER 2 ZERO POSITION MASTER 3 QUICK MASTER 4 SINGLE AXIS MASTER 5 SET QUICK MASTER REF 6 CALIBRATE Robot Mastered! Mastering Data: <0> <11808249> <38767856> <9873638> <122000309> <2000319>
Move the cursor to CALIBRATE and press ENTER. You will see a screen similar to the following.
SYSTEM Master/Cal 1 FIXTURE POSITION MASTER 2 ZERO POSITION MASTER 3 QUICK MASTER 4 SINGLE AXIS MASTER 5 SET QUICK MASTER REF 6 CALIBRATE Press ’ENTER’ or number key to select. Calibrate ? [NO]
Press F4, YES. You will see a screen similar to the following.
SYSTEM Master/Cal 1 FIXTURE POSITION MASTER 2 ZERO POSITION MASTER 3 QUICK MASTER 4 SINGLE AXIS MASTER 5 SET QUICK MASTER REF 6 CALIBRATE Robot Calibrated! Cur Jnt Ang(deg): <0.003> <-0.0012> <-0.050> <0.009> <0.015> <-0.002>
If you are using Dual Check Safety and the alarm "SYST-212 Need to apply to DCS param" occurs, the value of the setting parameters and the value of the DCS parameters are different. To reset this alarm, you must perform the “Apply to DCS parameter” procedure. Refer to the Dual Check Safety Operator’s Manual for more information.