Fanuc R30iA - Single Axis Mastering

Good afternoon all,

We will be changing out a servo motor for axis 1 soon. I have the current position of the robot written down (all the degrees for all 6 joints), but I will only master joint 1 (which is at 7° right now). After we install the servo, is it possible for me to master the robot at 7° and make it believe the servo is at that position? This way, I don't have to touch up any points at all in my program? Cause if I change it to think it's at 0°, then my program will be completely off.

Thanks,

@Everyone Thank you for all the advice. Unfortunately, we had to test the gears inside the robot where all the grease is. We were able to move axis 1 gears with our hand (which I thought was wild, moving the entire axis 1 robot with just your hand on the gear), so my degrees were off. We ended up using the timing marks to get very close to zero and let the techs touch up the few loose ends.

For anyone else in the future, you need to enable the mastering option through the master enable variable, then once you unplug the servo and connect new one, you will get BZAL error, you need to reset this by going to the $MCR.$SPC_RESET variable and setting the value to true. Then the value should go false. Then you need to master the robot, then calibrate. Then good to go!