For some reason we randomly keep losing axis 4 mastering. we've replaced the encoder and a whole new arm at one point. When this happens i reload sysmast.var and calibrate then we're back up and running until the next time. This time was a little different after reloading everything to our robot and testing a program, it wants to run in the opposite direction. I also tried loading the image backup to the robot to maybe reset anything that was done and it's still not working properly. Any suggestions or ideas would be greatly appreciated
Thank you
lost axis 4
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athomas8 -
January 7, 2016 at 3:32 PM -
Thread is marked as Resolved.
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BTW our robot is an M10iA controller is R30iA
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For some reason we randomly keep losing axis 4 mastering. we've replaced the encoder and a whole new arm at one point. When this happens i reload sysmast.var and calibrate then we're back up and running until the next time. This time was a little different after reloading everything to our robot and testing a program, it wants to run in the opposite direction. I also tried loading the image backup to the robot to maybe reset anything that was done and it's still not working properly. Any suggestions or ideas would be greatly appreciated
Thank youI've never had to reload any program to re-master. Just do a single axis master.
Check your cabling, probably something cut.
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It lost it's mastering but was never unplugged from the encoder so i am able to just load sysmast.vr and get it going right away. Yes i could and others have used that option of single axis mastering and come up with the same result but to me sometimes that's more of a risk to be slightly off and throw off programming. In any case we did try both options and still came up with same result this time as the robot wants to go in the opposite direction.
We can run programs for months to a year or so in between this happening. It's just now it's get more and more frequent with every few months.
Replacing the harnass was our next thought just to see if there might be a short somewhere?!
I was just wondering if it running in the opposite direction right now that there might be something that someone has seen that is similar or come across maybe in the variables or something with configuration.... I'm just stumped -
I need more information. When you say "we lost mastering", what does that mean?
Does the robot still move but the axis four position is incorrect?
Is there an alarm associated with the loss of mastering? BZAL, attempted to move w/o calibrated, pulse not established???
At the time of the failure and you go to single axis master, is there a two or a zero in the ST column? -
I tried to look in the history to get the exact alarm but there were a couple of others working on it before i was brought in. Axis 4 loses its pulse count during operation. If you go to single axis master it shows zero. The cables are never unplugged from the encoder. So the last times i have worked on this same problem i went through controlled start menu and loaded sysmast.vr, then went to variables and changed mastering to true, calibrated it and ran a program just fine. this time having a couple others work on it before me not knowing exactly what all they have done for sure... I tried my same process and now the program wants to run like it's going to go in the opposite direction. I'm at a loss for that reasoning.
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Fanuc had problems with pulse coders on some R30iA models.
They started using lead free solder and the new solder would grow whiskers and cause a lot of odd problems.
Some times a pulse coder from one axis would cause problems with another axis.
There is an engineering bulletin on this issue. You can call Fanuc's hotline and ask them is your unit is affected.I had a customer with an odd mastering issue and he had to replace ALL of the pulse coders!