Fanuc - Differences between Quick Mastering and Zero Position Mastering

    Hi everyone,

    I am quite new to Robot Operations and Maintenance and need your help.

    I would like to understand the difference between Quick Mastering and Zero Position Mastering on a Fanuc Robot.

    I went through several procedures and videos and many of them have a different work-flow for Quick Mastering

    When is Quick Mastering possible? When is Quick Mastering preferred?

    From the Fanuc's Operator manual, it is clear that the zero position mastering will not accurately bring the robot back to its initial stage. After zero position mastering, a re-teaching or touchup is necessary. How about quick mastering?

    Looking forward for your help.

  • Fubini March 16, 2025 at 9:19 AM

    Approved the thread.

    Check this one. This should answer most of your questions.

    Post

    RE: Quick Mastering

    […]

    Yes, you need to jog the robot to the Quick Master reference position. By default the reference position is set to 0. You can choose any position but the reference position need to be set before mastering is required. If you set a reference position other than 0 you should put some marks on the robot to be able to jog the robot to the correct position in case mastering is lost.

    Zero Position Mastering always need to be performed at the zero position. Zero Position Mastering will set a new…
    DS186
    June 16, 2023 at 11:03 PM

    Thank you DS186 for the link.

    Yes, it did answer some of my questions.

    I understood that in both Zero Position Mastering and Quick Mastering we need to jog the robot to the zero position witness marks / reference position marks.

    In either cases, due to human error, the joints will not be at its exact same zero markings.

    When mastering is done,

    1. In zero position mastering, a new zero position is generated. New master counts are recorded in $DMR_GRP. $MASTER_COUNTS. This results in losing the accuracy of the robot. Re-teaching / touchup is required.

    2. In quick mastering, the old master counts are maintained. The robot restores its previous accuracy. How does that happen even when the joints are not at its exact zero position (joints are at its human erred positions)?

    Quote from undefined

    1. In zero position mastering, a new zero position is generated. New master counts are recorded in $DMR_GRP. $MASTER_COUNTS. This results in losing the accuracy of the robot. Re-teaching / touchup is required.

    Correct.

    Quote from undefined

    2. In quick mastering, the old master counts are maintained. The robot restores its previous accuracy. How does that happen even when the joints are not at its exact zero position (joints are at its human erred positions)?

    A rough explanation:

    The pulse coders have an absolute (reference/ zero) point. With that it is possible to count back to the exact position WITHIN ONE pulse coder revolution. That means, for Quick Mastering you have to jog the robot to the Quick Master reference position with an accuracy of less than or equal of one revolution. This is not a Problem with the human eye.

    Thanks again for your reply.

    I didnot understand yet (sorry for my poor knowledge) about the 'absolute point of the pulsecoder'. I will try to research on this further.

    But from the explanation, it is clear that a Quick Mastering is not possible if a physical movement has happened after the mastering is lost.

    1. Motor replaced

    2. Pulsecoder replaced

    3. Joint forcefully moved when pulsecoder is not powered by main power and / or battery


    And quick mastering is the best solution in the event where mastering is lost but there was no physical movement happened to the robot.

    Is that correct?

    Quick Mastering cannot be used in the following cases:

    - Replacement of a gearbox or a pulse coder

    - If a motor was disassembled and assembled again but in a different (twisted) position

    - If the mastering data is lost and there are no recordings

    Regarding 3. That doesn't matter. Quick Mastering is still possible.

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