A customer of ours replacing a robot of theirs with a refurbished robot of the same model. They only bought the robot not the controller. Theoretically everything should work when they hook up the refurbished robot. They did not receive the mastering data with robot, my question is what needs to be done to get it up and running production again? will a Zero Master work? I realize all positions will have to be re-taught. I know there has to be a way around not having that Mastering Data sheet but not sure how... Thanks in advanced.
Refurbished Robot Mastering
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Kyle0588 -
March 8, 2018 at 4:47 PM -
Thread is marked as Resolved.
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What type of robot and controller?
I think so zero degree mastering will do your thing. Do calibrate the robot after you perform your mastering. Also check the I/O configuration and config settings in the system menu. Try to jog around with your jog keys and also write a short program to test your joint and linear moves. Also look into the robot outputs like vacuum or blow or grip or what ever kind type of robot it is according to that. And I think so that's pretty much it. -
It is a M710i with a 45. RJ3 controller. It is for part handling. Once i reconfig the I/O everything should be good im hoping. What can i try if the movements of the robot are looking weird?
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If the rebuilt robot was mastered, all you have to do after connecting and powering it on is reset the pulse coders, cycle power, set $MASTER_DONE to true and calibrate.
The pulse coder data in the robot is the master reference data, not the reference data in the controller. -
Use zero position master procedure to create new mastering data for the reburbished arm
When you connect the new robot you'll get pulse mismatch errors....
Reset pulse coder alarms under masterization screen
Probably new to move the axes to establish pulse
Cycle power, then perform masterizationIf robot is the SAME, and mounted exactly as the original one zero master will do
The robot base has machined reference surfaces to locate the robot