Im having trouble with a CR-35iA unit. It's a robot that is used in a R&D enviroment it has not been used a lot at all.
Background: Im new in this workplace and took over this problem from a former co-worker. The trouble started after he changed the batteries of the Unit. After changing the batteries he got an "SRVO-491 Collabrative Stroke limit" error. Fanuc's response were that we might have lost mastering data. The co-worker tried doing a mastering, which seems to not have been done properly.
1) Mastering: I am in dialog with FANUC support and set the $MASTER_COUN values back to factory setting. As you can see in my attachment the physical robot position and 4D does not match at all.
2) SRVO-482 Robot is moved in stop check: This error appears after a short time jogging. When this happens, the robot is not willing to move any axis. Fanuc support has yet to give me an explanation of this error.
I find it difficult to think that there is any damage to an encoder or the robot in general. I do think this is a software issue. But stranger things have happened, so I might be wrong.
So any advice is appreciated. I dont have a lot of experience with robotics, so be specific