Author Topic: Need help in resetting "home" position"  (Read 2711 times)

englandj62

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Need help in resetting "home" position"
« on: February 01, 2009, 01:58:53 PM »
Our Fanuc robot had a SRVO-038 Pulse mismatch.  My technician mistakenly skipped the first step in MASTER/CAL and resetting the RES-PCA.  Instead he basically re calibrated the robot when it was not in the home position.  Seeing as how this did not clear the Pulse mismatch error code, he went back and performed the first step in resetting the RES-PCA, which did clear the pulse mismatch.  However, now the home position is off on 2 positions.  Any help in restoring or resetting the home position would be greatly appreciated.

robotmaint1985

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Re: Need help in resetting "home" position"
« Reply #1 on: February 02, 2009, 03:13:06 AM »
You must jog the robot to the calibration marks on the axis of the robot and remaster. The only other way is to check inside the controller and find the master calibration reading on the original Fanuc setup sheet.

tayte2003

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Re: Need help in resetting "home" position"
« Reply #2 on: February 02, 2009, 12:27:14 PM »
I know this is probably too late!
But good for future use.
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.

englandj62

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Re: Need help in resetting "home" position"
« Reply #3 on: February 02, 2009, 03:33:56 PM »
Got It!!!!  Thanks for the heads up on the calibration marks on the robot itself.  I aligned the marks, and mastered it perfectly.  Robot is up and running.  Appreciate all your helpful inputs.

[fanucker]

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Re: Need help in resetting "home" position"
« Reply #4 on: February 02, 2009, 07:08:19 PM »
sorry gentlemen but the whole procedure is technically WRONG!
you don't need to remaster robot after SRVO-038. This is just a mismatch NO BATTERIES 6V LOST IN PULSE CODERS!!!
when happens just RES_PCA then set $DMR_GRP[1].$MASTER_DONE=TRUE, calibrate then cycle power.

that's all! gap will be filled and position should be recovered.

cheers

yogesh

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Re: Need help in resetting "home" position"
« Reply #5 on: February 04, 2009, 09:43:08 AM »
I second Fanucker's suggestions. Thats the right way to do it!

Offline joker

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Re: Need help in resetting "home" position"
« Reply #6 on: February 04, 2009, 07:27:20 PM »
If you got a full backup and winolpc then nothing is lost. You can calibrate a robot in which position You want, but You has to have a master_count values.
If You have backup then You have master count ('til ver. 6.40 I'm sure).
« Last Edit: February 05, 2009, 10:43:47 AM by joker »