When you master to a fixture, you use a mastering fixture to align the robot axes and then record their serial pulse coder readings. You can master any robot to a fixture.
Use Mastering to a Fixture to master to a fixture.
Procedure 3. Mastering to a Fixture
You have the appropriate mastering fixture for your robot.
You are not mastering a P-series robot.
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
If automatic brake control is enabled, disable it as follows; otherwise continue to Step 2
Press MENU.
Select SYSTEM.
Press F1, [TYPE].
Select VARIABLE.
Move the cursor to $PARAM_GROUP and press ENTER twice.
Move the cursor to $SV_OFF_ALL and press F5, FALSE.
Move the cursor to $SV_OFF_ENB and press ENTER.
Move the cursor to each line where the value is TRUE, and press F5, FALSE.
Turn off the controller.
Turn on the controller.
Install the mastering fixture on the robot and jog the robot into the mastering position. Refer to the Mechanical Service Manual or Mechanical Connection and Maintenance Manual specific to your robot model for the procedures for set up and use of a mastering fixture.
Press MENU.
Select SYSTEM.
Press F1, [TYPE].
If Master/Cal is not listed on the [TYPE] menu, do the following; otherwise, continue to Step 7
Move the cursor to VARIABLE and press ENTER.
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 FIXTURE POSITION 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. Master at master position ? [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): <0.000> <29.226> <-100.625> <0.000> <-79.375> <0.000>
Move the wrist clear of the mastering fixture and remove the mastering fixture from the robot. Refer to the Mechanical Service Manual or Mechanical Connection and Maintenance Manual specific to your robot model for the procedures for use of a mastering fixture.
If you have disabled automatic brake control in Step 1 , enable it as follows:
Press MENU.
Select SYSTEM.
Press F1, [TYPE]
Select VARIABLE.
Move the cursor to $PARAM_GROUP and press ENTER twice.
Move the cursor to $SV_OFF_ALL and press F4, TRUE.
Move the cursor to $SV_OFF_ENB and press ENTER.
Move the cursor to each line where you previously changed the value, and press F4, TRUE.
Turn off the controller.
Wait a few seconds, then press the ON/OFF button on the operator panel to turn the controller on again.
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.