I've got an R30iB controller for an M10iB palletizing robot from an OEM. On my single axis master page in the MSTR POS Column there are values for J2 and J3. I've lost batteries, programs, etc. before and I've gone through the mastering process. What I've found is that doing a Zero Pos Master does not allow the robot to run as normal (all pick/place points are way off). I have to jog the robot in J2 and J3 to the values in the MSTR POS column and do a single axis master. Then, and only then, are my pick/place points normal.
Question is, why are these values in here? If they were offsets for something I would understand. But it's as if they purposely mastered it incorrectly and then taught all the points with the wrong master. What am I missing??
The MSTR POS value is essentially an offset (so at a true Zero position master the robot thinks J2 and 3 are at -4 and -60 respectively). Then I have to Jog 2 and 3 so that the actual matches the MSTR POS and single axis master both, which cancels out the offset right? Only by going through those steps can I get positions working correctly.
I know I can change these values in the $PARAM_GROUP[2].MASTER_POS, but I'm trying to understand why they are there...
Here's my SINGLE AXIS MASTER and Axis Limit pages:
SINGLE AXIS MASTER
Actual Pos (MSTR POS)
J1 0.000 (0.000)
J2 0.000 (-4.691)
J3 0.000 (-60.283)
J4 0.000 (0.000)
J5 0.000 (0.000)
Axis Limits
Lower Upper
J1 -180 180
J2 -55 100
J3 -102 10
J4 -10 10
J5 -250 250
