Hi,
If the $DMR_GRP[1].$MASTER_COUNT is a zero position for all of the robot's axes why we should move the robot to the marked position and not to the position which .$SPC_COUNT will be even of .$MASTER_COUNT?
Hi,
If the $DMR_GRP[1].$MASTER_COUNT is a zero position for all of the robot's axes why we should move the robot to the marked position and not to the position which .$SPC_COUNT will be even of .$MASTER_COUNT?
Is this after a BZAL alarm? If so, your counts will change after losing power, thus invalidating the old counts.
I recommend you setup a quick master reference at the zero position and do a quick master if you ever have a bzal.
If i get BZAL can I move the robot to that 0 postion by running my program?
Ok, i have a ref pos as a 0 pos, the same like zero mastering, than back to home, unplug some cables etc. and then i get BZAL. What is the next step? I should back to my ref pos but in what way? Jogging?
You have to setup the Quick master reference ahead of time when there is no BZAL. Then after you have a BZAL you can jog to the zero marks (or wherever you set up the reference) and use the quick master procedure in the master/cal screen.
If you never did that and have a bzal then you probably just need to zero master it.
So what is the difference between zero mastering and quick mastering if in both case we need to jog to the zero marks position?
Quick mastering restores the mastering to the exact mastering it had before. You just have to jog it roughly close to the reference position (within 1 encoder rev).
Zero mastering is just eyeballing the witness marks, no chance of getting it perfect.
Ok, understand. Next thing is that when robot is at the zero pos and I realese shift and deadman, position changes a little bit from 0 on the all axes to E1 0.017, J2 0.001,J3 - 0.003. Is this normal?
Should i set quick mastering at this position?
Also ref_count is a little bit different than master_count i mean last 3-4 digits.
Thank you for help
Maybe i should rewrite master count to Ref pos?
Yes, just set the quick master reference there.
You can set it in any position but 0 is convenient because there is already markers