Good morning everyone,
I would like to create this post to solve all the doubts about the mastering of the FANUC robots and what procedure to carry out with the different cases that may arise. The post is a bit long, but it sure helps a lot of people.
I have read several posts but I still have doubts, so I ask the teachers to lend a hand and answer the doubts I have, in the following way.
-Cause
-Procedure to follow
(I.e.
1- In my company I have made a program, with all points taken perfectly. I have taken the robot to the client and it turns out that the robot approaches the points, but they are not perfectly. What happened? (It has happened to me several times) Encoders move during transport ??
-Cause
-Procedure to follow
(I.e.
2- The program is fine. The robot collides and the robot approaches the points, but they are not perfectly.
-Cause
-Procedure to follow
(I.e.
3- I have created a REF POSITION with all axes at 0º and axis 1 at 45º for lack of space. If I want to re-master axis 1, what should I do? Bring all axes to 0º and axis 1 to 45ºQUICKMASTER-> CALIBRATE ??
-Procedure to follow
(I.e.
4-I take the robot to marks, but axis 4 is not perfectly aligned.
-Procedure to follow
(I.e.
5-I do not know if previously the robot is with a REF POSITION and I want to master all the axes.
-Procedure to follow
(I.e.
6-The robot has no REF POSITION. That is, it comes factory-mastered with all axes at 0 °. The robot does not have space to be able to put all the axes at 0º. I want to master all the axes.
-Procedure to follow
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7- The robot has a POS REF, with the axis at 45º. I have mastered the robot with all the axes at 0 ° because I did not know.
-Procedure to follow
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8-I have to mster the axis 3 but i can´t allign axis 2 and 3 beacuse lack of space.
-Procedure to follow
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Differences between and for what they serve
FIXTURE POSITION MASTER:
ZERO POSITION MASTER:
QUICK MASTER:
SINGLE AXIS MASTER:
SINGLE AXIS QUICKMASTER: (New added on FANUC robots)
Some things I think I know, but I would rather have a friend who knows a lot more, because I prefer to see their answers before giving my version and to begin to mix concepts throughout the post.