Lost mastering... Robot at a known position. Can I remaster to this position and be able to run my programs?
I took a Fanuc Robot (R30iA, M-70iC, Ver7.3) to a known purge position. I turned off the Controller to move an EE cable. When I powered up the Robot I found I had bad batteries and ended up with a BZAL Alarm on all 6 axis. I replaced the batteries; cleared the BZAL alarm and SERVO 62 alarm after powering back up. When I scrolled through the Purge program and look at the position of where the Robot was when I lost my mastering I see the following information:
X=-4552.8 mm W=-175.42 deg
Y= 1660.0 mm P= 28.94 deg
Z= -1881.3 mm R= 2.13 deg
All the mastering alignment marks on the wrist are gone… worn off. So mastering to the marks would be impossible. The Robot is still, physically at this purge position, can I use the teach pendant info to re-master at this position.
If my memory serves me correctly I have seen this done before. I can’t remember all the steps involved. Can anyone help me?