Mastering TO Fix After Cell Programming Done

[viskey]

Hello all,

I have finished programming my cell. Currently, robot is mastered at zero witness marks. Now I am told I need to use two locator pins for mastering the robot. The EOAT has 2 pins and will line up with a plate with 2 pins in front of robot.

Also, I realized that my J2 cant reach zero degree (cell layout). And this means I cannot master J2 and J3 at zero witness mark either in future.

What are my options here in setting a new mastering position to locator pins without reteaching my cell completely ?
Can I set a Quick Master Ref Pos at locator pins and use it in future to Quick Master ?

Thanks. Appreciate the help !

Vish

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[Robo_Eng_13]

The easiest and best way would be to get new vernier alignment marks, choose a posture that the robot CAN reach inside the cell, place the alignment marks on each axis in a visible location so that they are aligned at this position, and document this position somewhere safe. Then, in the future if you need to remaster, jog to the alignment marks and do a Single Axis Master on the whole robot at the recorded location.

[pdl]

Yes, you can use that position to set a quick master reference.

[viskey]

Thank you. I thought of it, but customer most likely wont agree to any marking.

[viskey]

Perfect. Thank you very much !