Resetting Group 2 Joint 1 position to zero

    Hello everyone,

    I have a R-2000iB/210F robot with an limitless external axis configured as motion group 2. We are trying to do filament winding using this setup. After a single run of a program, the axis has turned about 5000 degrees. So I would like to reset this axis position to zero before running the program again. This way, the G:2 A:1 axis will not rotate -5000 degrees before I can start my program again. Otherwise it will take a long time for the axis to "unwind" first and then restart the program.

    Is it possible to reset the axis position of a limitless positioner from the teach pendant?

    If you do not need that axis to reset exactly at 0, you may be able to just remaster the axis again after every cycle or before starting it.

    And I say that because even if you move the axis from 0 to 360 degrees, if you master again the axis on that position you may have some positional error, axis may be 0.1º off and after 100 re-masterings you may have added 1º of error.

    If this is not a problem, I think you could do it through karel or modifying the mastering variables directly so you do not need to unwind the axis.

    Currently I have a similar application where I do that, but not on a fanuc axis, instead I remaster a siemens servo to 0 every time I complete the whole motion because I do not want it to unwind and I do not care about the final or initial position of the servo, I only need to rotate certain degrees after a new cycle begins and nothing more.

    Check this thread, there is info about an automatic axis remaster through program, it's from a turntable, but it's pretty similar:

    Thread

    Program to set turntable to zero

    Hello, I am new to the forum and new to fanuc robots, we have a 6 axis fanuc robot in group 1 and a turntable in group 2 (Axes 7 and 8).

    The case is that we do not have the continuous turn option installed, so if we make a program to rotate for example 60000 degrees, at the end of the program the table is located with that number of turns.

    Is there a way to make a program that allows me to set to zero without doing 60000 in the other direction?

    Thanks.
    Nelson Castro
    May 4, 2020 at 6:11 PM

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