7.  ZERO DEGREE MASTERING

When you master to zero degrees, you position all axes at their zero degree witness marks and record their serial pulse coder readings. You can master any M-series or S-series robot to zero degrees.

If you are using a P-series robot, and you have witness marks scored onto your robot, you can master the robot to zero degrees.

Use Mastering to Zero Degrees to master to zero degrees.

Procedure 7.  Mastering to Zero Degrees

Conditions

  • You have cleared any servo faults that prevent you from jogging the robot.

Steps

  1. Using the joint coordinate system, jog each axis of the robot to the zero degree witness mark. Refer to the Mechanical Service Manual or Mechanical Connection and Maintenance Manual specific to your robot model for the location of the witness marks.

  2. Press MENU.

  3. Select SYSTEM.

  4. Press F1, [TYPE].

  5. If Master/Cal is not listed on the [TYPE] menu, do the following; otherwise, continue to Step 6

    1. Select VARIABLE.

    2. Move the cursor to $MASTER_ENB.

    3. Press the numeric key "1" and then press ENTER on the teach pendant.

    4. Press F1, [TYPE].

  6. 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.
    

    Note

    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.

  7. Move the cursor to ZERO 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 zero position ? [NO]
    

  8. 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>
    

  9. 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]
    

  10. 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> <0.000>
    <0.000> <0.000> <0.000>
    

    Note

    If you exit the Master/Cal screen by pressing F5, DONE, the Master/Cal screen will be hidden. Master/Cal will not be available by pressing F1, [TYPE]. To display the Master/Cal screen again perform Step 1 through Step 6

  11. 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.