FANUC RJ3iB/M-16iB J6 Mastering

    Hello everyone, I have a question regarding single-axis mastering. We remastered the robot (when we didn't need to, pulse coder died on a joint so we only really needed to do single-axis but did all-axis zero mastering) about 6 months ago. Every joint except j6 had witness marks that we were able to jog to. We did our best by using a flat object against the spindle to master J6 but I've noticed that our sawblade is about 1/16" out and is not level to the flat fixture we are using to cut parts on. What I mean by the sawblade being 1/16" out is when you measure one side of the sawblade it measures 1 1/4" from the top of the flat fixture to the front face of the carbide teeth and the other direct opposite side measures 1 5/16", 180 degrees apart from each other. I think this might be due to the way we mastered J6. Is there a way to single master J6 when the witness marks are either gone or hidden by the attached spindle? Any help with this would be really appreciated, thanks!!

    Are you sure there aren't faint little scribe marks that you missed?


    Does the robot and program use a tool frame? If so touching up the tool frame may help.

    Otherwise, you could put it in the position you measured to the blade. Record J6 joint position. Jog J6 until it's even on both sides of the blade, then record that position. Subtract to find the difference between the 2 angles and move to that # of degrees from 0. Then you can master J6 at that position to zero it. If you go the wrong way then you would need to go double the amount the opposite direction and remaster again to correct.

    We are using tool frames for our programs so I think that we'll stick with updating tool frame data instead of remastering and possibly messing up old programs that we use for production. Unless remastering is recommended I think that is the best course of action. I will take note of what you said for remastering because that's a very smart way of doing it - I don't think that I would have ever thought of that!

    We've looked very closely for any witness marks and the only think we can surmise is that the witness marks are on the rotating faceplate of j6 or something because we can't seem to find any trace of them. They're hard/impossible to see because an aluminum frame that holds the spindle is attached to the face plate. We considered taking it off to check but we didn't want to risk messing programs up if we didn't put it back exactly where it was before.

    Hi,
    As a colleague writes above, the easiest way is to make new tool frames.

    But you mentioned above that you made a new "zero position master", maybe you can make a "quick master" again (if you didn't do "set quick master ref").
    If it does, it will only be necessary to calibrate through the "single axis master", axis number 6. the calibration mark should be located on the rotating flange (so you will have to drop the spindle) ... or try +- hitting so that the programs fit you .

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