I didn't realize I wrote down the "user" position numbers and when I went to calibrate, my joint positions are all off and my robot does not know where it is. what can I do to correct this?
what can i do if ive lost my position numbers and need to recalibrate? help
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BranDon -
February 10, 2018 at 5:52 PM -
Thread is marked as Resolved.
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You can do a zero position master if you still have the marks on the robot.Just don't forget you need to rotate each axis like 20-30 degrees minimum than press zero pos master...than calibrate.
And you are good. -
my issue is J1 and J6 have no zero marks. so I cant do a full zero remaster. I tried to guess where zero is but no luck. J2-J4 are all good but when I run my programs all positions are a bit off from J1 and J6 not being exact. which is why I meant to note my positions just accidental over looked I wrote them down in the user frame not joint. thanks for the input tho!
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Do you have a backup of your robot?
If you only replace motor for axis 2, you only need to master that axis and keep the calibration data of the rest
use single axis master
By the way, why you repaired that axis in first place? -
Then make a mark on J1 and J6! If you knew there weren't any marks, you should have marked those axis before you even began the repair. Always check first!
Or only master J2 and not the rest.
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Why did you have to remaster?
The procedure to recover will be different depending on what you did and why. -
Why did you have to remaster?
The procedure to recover will be different depending on what you did and why.He replaced the motor on J2.
See here: https://www.robot-forum.com/robotforum/fan…ot-established/
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Load the SYSMAST.SV file from a previous back up.
You need to load it under a controlled start.
Cold start the robot, reset the pulsecoders, cycle power, and then master axis 2 only and calibrate. -
I appreciate everyones comments and help. @ cobenson I did make my own marks on j1 and j6 however they are not at 0 degrees. this is why I wrote down the positions for remastering. as I stated I didn't realize when I went to positions and wrote down the numbers it was on user not joint. I also didn't realize I could have just remastered j2 after the servo change. I have only done this three times and the last one was over a year ago. I've always remastered every axis because that's how I was told to do it. now I know for future. I did get this problem corrected. kind of by a guessing game. I would run a program to look where my robot would go, I checked position and then jogged it to where it should have been. subtracted the difference and remastered j1 and j6 at the difference when at 0. it seemed to work I got the production line back up and running yesterday. thanks again for the help.
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@robotero I replace the servo for J2 because it was drifting really bad and causing the robot to crash into things. I believe the brake to be going bad. these robots are in a harsh environment, and get run hard. they are used for a steel heat treat operation.