MOTN-049 error while attempting to calibrate the robot

Hi,

While doing vision master recovery on our new R30iB controllers Fanuc Arc mate 100ic Robots, I have been able to successfully record the reference position but it gives me an error while trying to measure camera position as "MOTN-049 attempt to move w/o calibrated". I am guessing this is how you calibrate as this procedure is in the Calibration Manual of Fanuc and I couldn't find any other details on calibrating the robots. I am new with Fanuc Robots, would appreciate any help, I am not sure how else to calibrate?

Thank you.

Thank you Racermike123,

I tried the same, on selecting zero position master it gave me a message "gravity compensation is enabled confirm you have set payload data correctly; execute mastering? yes or no". We would not need gravity compensation on our system as our parts are less than 10 pounds. Just to see if this will work I selected yes and calibrated. But now it gives me an error of MOTN -017 Limit error (G:1,A:1) while I am trying to measure camera position in Vision master recovery.

Do I need to disable gravity compensation? The arms are not bunched up at all so I am not sure why it is giving this error. Appreciate your time.

Thank you.

Hi Racermike,

Thank you for all your help. After I mastered and calibrated it, all the joint positions were zero. All the joints are within the limits and as you suggested I tried different positions, but I am still getting the same errors MOTN-017 and MOTN-023 while trying to record new reference position. By jogging the calibration grid near the robot, you mean how close? As I tried different positions by keeping it between 200mm to 400mm range from the camera, but no luck. I am attaching the joint axis position to show that they are not bunched up at all. Do you have any other suggestions that I can try? https://www.robot-forum.com/robotforum/Smi…otforum/huh.gif

Thank you.

I am still in the process of creating the program, vision master recovery> create program> step 5 (reference position)and step 6 (measure camera posn) are what I am struggling with. I aborted all the programs by Function>abort all, but while trying to record new reference position I am getting error MOTN-017 and while trying to move to initially recorded position its giving error MOTN-023. Also if I am trying to measure camera position the error popping up is MOTN-017 again. Attached are the pictures for reference.

I figured it out, my mastering was not accurate, that is what was causing the issue of singularity. I appreciate your help Mike!