Can anyone help me understand why did this happen and how to avoid it in the future? I am a maintenance Electrician at one of the Auto Companies.
We have Fanuc R30iA Controllers (Ver 7.3) with M-710iC Robots. I had to change a cable that had some broken wires in it. We Run 3DL Multi-View Vision and HEM Flange seal with these robots. So I move the robot to a low position so I could work on it and then I turn controller power “OFF”. During the process of changing the cable (EOAT4CBL-EOAT JBOX) I think we actually moved the robot a little bit.
When I powered Robot back up I was greeted with a “pulse coder mismatch” alarm. I went to Master/Cal menu and I reset “RES_PCA”. I could than jog robot. When I tried to run the “Mov_Home” macro I got a “MOTN_49” alarm (Attempt to move w/o calibration). So I went back to Master/Cal screen and I did the “calibration” with no noticeable results. Then I got the same alarm when I tried to run “Mov_Home” macro.
After some time, much thought and in desperation, and using this website for education and information; I went into the robot Variables. Inside our Robot Controller is a Data Sheet and it had the “pulse counts” for the Mastered position. So I called up the robot screen that showed the numbers stored in controller and compared them to the Data Sheet master count numbers. All were identical except axis 7 (the X-rail). So after more thought and no one to consult I knew I had to try something - so I made variable “$Master_Done” TRUE and I made “$REF_DONE” TRUE. Then I went back to the Calibration screen and did the Calibration and this time it showed robot position on Teach Pendant screen. From my memory I knew this was good. I think I cycled power and then was able to run “Mov_Home” macro.
Thank goodness for this website, because I used it to get enough info to successfully get Robot running and ready for Day Shift production. The feeling of accomplishment was exhilarating and the earned respect of my peers was great - THANKS again, to all who contribute to robot forum.