Having two switch between 2 masters

Hi
I need to understand first "we are going into dmr_group to switch the encoder numbers"

Can you explain that ? What encoders ?

Are the four programs ok ? Can you select them manually an run them ?

I think I understand your problem now
You have 2 programs that were taught some time ago under certain values on the dmr.
Then, somebody recalibrate it or soemthing, so the dmr values changed and after that , 2 new programs were taught.

The only thing I see for a quick repair is a the top of each program write

$DMR_GRP[1].$MASTER_COUNT[1] = 209300
$DMR_GRP[1].$MASTER_COUNT[2] = -10115901
on and on

And something similar on the other two programs

This is a dangerous situation but it should work I strongly recommend you do a image backup and try it.

Seems to me that the variation on the pulses is small, few millimeters (guessing for the number of counts). You maybe be able to run the program manually a touch up every one of those single point. Just work in a copy of the program on weekends

Select Register
Go to the last option ...=(...)
Fanuc will put you in the first ... and then use the keyboard to type it just like a did
when you get to (...) SELECT constant and type the pulse value

I would....
1. Determine the correct master counts, this affects accuracy.
2. Input and use those values.
3. "Program Shift" the programs taught with the wrong master counts, you already know the difference.
4. Step through and verify the programs.

hI
Tony, you are right
I figured they are running production and they don't a break and we don't want bigemike to have a hurt attack.

What you are suggesting is a weekend job , because even after the shift, he's going to have to touch up points

bigemike
Please do an image backup, I wouldn't trust just saving the programs and screwing up things with pulses

Hi,all
If I remember correctly (please someone correct me if I am wrong)
You can only manipulate the master count values while in controlled start

So you go into controlled start, alter the master count values,
then change the master done bit to 1,
reebot then calibrate

There is no need to type-in the count values every time
The master count values are stored in the SYSMASTER file of the backup (ALL or system)

Just make a backup for each master set values then
every time you need to switch go into controlled start and load the corresponging SYSMASTER file
reebot (no need to change rhe master done bit to 1 but probably still need to recalibrate though)

Please try this and feedback if it works!

I don't think a program shift would work here ,....
because every position would require a different adjustment
But probably would get close enough .....

The only way to have all programs running with a common masterization is to teach every position again.
Do you have roboguide?

Depending on how many points were in the two programs using the old mastering, i might just try to update them.

Make a program with all motion groups masked out, with system variable commands to switch to the old mastering and to the new, depending on the value of a DO signal.

Set that program into BG Logic and start it to running.

Split screen the pendant, putting your DO on the right side and your programs that need updated in the left.

Step through the program 1 point at a time, and for each point:

Set the DO to use the old mastering
Forward to the taught point
Set the DO to use the new mastering
Touchup the point without moving

Do this for each point and i would think that would leave you with the old programs in the new mastering. Don't forget to kill the BG logic.

I'm guessing it would look something like this

IF DO[xx] = ON JMP LBL[1] --- just make sure to use a DO that's not being used anywhere else. You could probably use an RO as well.
Insert new master data
JMP LBL[2]
LBL[1]
Insert old master data
LBL[2]

It's still going to be time consuming, but it should be easier than programming from scratch

Quote from jenesaisquoi

I'm guessing it would look something like this

IF DO[xx] = ON JMP LBL[1] --- just make sure to use a DO that's not being used anywhere else. You could probably use an RO as well.
Insert new master data
JMP LBL[2]
LBL[1]
Insert old master data
LBL[2]

It's still going to be time consuming, but it should be easier than programming from scratch

Display More

Right. It is not a perfect solution, and 600 points will take quite a while, but it would be a permanent fix.

place each master count axis variable in register
make a program like this basic example

IF calib2 JMPLBL[2]
LBL[1]
$DMR_GRP[1].$MASTER_COUN[1] = R[1]
$DMR_GRP[1].$MASTER_COUN[2] = R[2]
$DMR_GRP[1].$MASTER_COUN[3] = R[3]
$DMR_GRP[1].$MASTER_COUN[4] = R[4]
$DMR_GRP[1].$MASTER_COUN[5] = R[5]
$DMR_GRP[1].$MASTER_COUN[6] = R[6] ;
JMPLBL[3]
LBL[2]
$DMR_GRP[1].$MASTER_COUN[1] = R[11]
$DMR_GRP[1].$MASTER_COUN[2] = R[12]
$DMR_GRP[1].$MASTER_COUN[3] = R[13]
$DMR_GRP[1].$MASTER_COUN[4] = R[14]
$DMR_GRP[1].$MASTER_COUN[5] = R[15]
$DMR_GRP[1].$MASTER_COUN[6] = R[16] ;

LBL[3]
$MCR_GRP[1].$CALIBRATE = 1 ;

You can go into your digital I/O screen, highlight the desired output, and turn it ON or OFF from there. I believe it's F4 to turn it ON, F5 to turn it OFF.