You can master a single axis of any robot provided that there is a reference mark at a known position on that axis. When a single axis of a robot is mastered, mastering data for the other axes remains unchanged.
Use Mastering a Single Axis to master a single axis.
Procedure 4. Mastering a Single Axis
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 unmastered axis of the robot to the single axis mastering position.
For M-series or S-series robots only: Using the joint coordinate system, jog the unmastered axis of the robot to the zero degree witness mark. If you are single axis mastering the J3-axis, the J2-axis must first be lined up at its zero degree mark. Otherwise the positions of the other axes are unimportant. Refer to the Mechanical Service Manual or Mechanical Connection and Maintenance Manual specific to your robot model for the location of the zero degree witness marks.
For P-series robots only: Using the joint coordinate system, jog the unmastered axis of the robot to the standard mastering location and align the mark, pin or surface using a straight edge if necessary. If you are single axis mastering the J3-axis, the J2-axis must first be lined up at its standard mastering location. Otherwise the positions of the other axes are unimportant.
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 SINGLE AXIS MASTER and press ENTER. You will see a screen similar to the following.
SINGLE AXIS MASTER ACTUAL POS (MSTR POS) (SEL) [ST] J1 0.000 ( 0.000) (0) [2] J2 3.514 ( 35.000) (0) [0] J3 -7.164 ( -100.000) (0) [2] J4 -35.366 ( 0.000) (0) [2] J5 -1.275 ( -80.000) (0) [2] J6 4.571 ( 0.000) (0) [2] E1 0.000 ( 0.000) (0) [0] E2 0.000 ( 0.000) (0) [0] E3 0.000 ( 0.000) (0) [0]
A "0" in the [ST] column indicates that the axis is unmastered.
Move the cursor to the (MSTR POS) column and move it up or down to the unmastered axis. (Any unmastered axis will have the number 0 in the [ST] column).
Enter the position where single axis mastering is to be performed in the (MSTR POS) column for the unmastered axis.
For robots where single axis mastering is performed at the zero degree position, press the numeric key "0" and press ENTER.
For robots where single axis mastering is performed at the fixture position, enter the fixture position and press ENTER.
Some P-series robots are single axis mastered at the fixture position. All other robots are single axis mastered at the zero degree position.
Continuously press and hold the DEADMAN switch and turn the teach pendant ON/OFF switch to ON.
Move the cursor to the SEL column and move it up or down to the unmastered axis.
Press the numeric key "1" and press ENTER.
Press F5, EXEC. Mastering will be performed automatically. You will see a screen similar to the following.
SINGLE AXIS MASTER ACTUAL POS (MSTR POS) (SEL) [ST] J1 0.000 ( 0.000) (0) [2] J2 3.514 ( 0.000) (0) [2] J3 -7.164 (-100.000) (0) [2] J4 -35.366 ( 0.000) (0) [2] J5 -1.275 ( -80.000) (0) [2] J6 4.571 ( 0.000) (0) [2] E1 0.000 ( 0.000) (0) [0] E2 0.000 ( 0.000) (0) [0] E3 0.000 ( 0.000) (0) [0]
The J2 axis is now mastered and a 2 is displayed in the [ST] column.
Press PREV.
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> <0.000> <-7.164> <-35.366> <-1.275> <4.571>
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.