Hey all, apologies if this question is too similar to some of the other ones I saw, but I couldn't glean a clear answer from them. I'm setting up some SR-6iAs on R-30iB Compact Plus controllers, but it's been a while since I've had to set up a Fanuc. The factory mastering data was good, but I was getting a warning on one robot that the reference position for the quick mastering hadn't been set. The robot was not at its zero position, which I should have done just to be safe.
Since I didn't need to actually perform any mastering, I ensured $REF_POS were all at 0°, then copied the values from $MASTER_COUN to $REF_COUNT, then set $REF_DONE to TRUE. I figured since I wasn't going through the Master/Cal menu, it wouldn't actually perform the mastering at reference position. However, after checking my position values, J4 was sitting around 700 deg, mistake number 2 was not carefully checking the position values before starting this procedure. I restored the sysmast.sv file from an earlier backup, before I ever touched mastering, but J4 was still showing an extremely high position value.
I decided to check the current pulse counts, and J4 had a value of -16001079, which does actually seem accurate. So is it possible that the mastering is actually okay, and someone just decided to swing J4 around a couple times? Does setting $REF_DONE to true immediately perform the reference mastering? Either way, in order to be safe I am going to redo this procedure with the robot physically at its 0° position.
