Got a robot for free trying to start it up. It needs to be mastered anybody know the proper steps to re zero and calibrate this setup? I have no way of backing up this thing it’s rs232!!
Old old old H GMF controller need to calibrate and master
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uwreck1980 -
November 17, 2017 at 1:40 AM -
Thread is marked as Resolved.
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Please let us know which mechanical unit do you have so we'll know if it has IRC or APC encoders.
I have RH controller also with S700 mechanical unit. It does not need to be recalibrated everytime the controller starts because it has battery backed APC encoders. But if your MU have IRC encoders the calibration is as follows:
CALIBRATION
1) safety first - no personel in working envelope of robot
2) power up controller and clear all faults
3) jog the robot near to its reference position
4) switch off the teach pendant
5) turn off REMOTE keyswitch on operators panel
6) press CALIBRATE button on operators panel
7) the IN CYCLE light come on and lights until calibration is done. When it is done successfuly it will go out as same as the NOT CALIBRATED light does.MASTERING
AFAIK mechanical unit has zero marks on each axis. So either you need to jog the robot to these positions or you do have a mastering fixture with which the robot is zeroed to and tell the controller that mechanical unit is at zero position as follows.
1) power up the conntroller
2) turn on REMOTE keyswitch on operators panel
3) using teach pendant jog the robot to mastering position (marks or fixture)
4) call up KCL> using CRT/KB terminal (installed od remote)
5) type "UTIL" + ENTER
6) type "MASTER" + ENTER
7) type "Y" as response to "Are you sure?" question
type "Y" if you are mastering to zero marks or type "N" if you are mastering using mastering fixture as response to "Mastering at 0 degrees Y/N?" question
9) press ENTER twice
10) Power down and up the controller and you are doneHope it helps.