This little test to determine if mastering is accurate seems like the perfect test however I am confused on the instructions. Can someone elaborate please?
Create a program and teach a point in space where your TCP touches a physical top. (Does this mean a pointer?)
Be sure to check your J3 axis to be near zero degrees or at least 0-30 degrees and all turn count numbers in the positional data of the point to be zero. (How do you turn all count numbers in the position data to zero? Is this the actual degrees for each joint?)
Without moving the robot, create a second point on the same location and enter in the positional data. (Here I just taught two points in a program to the same position, is this correct?) Change the configuration from NUT to NDB (or the opposite). (I did this however mine is in FUT & FDB, I assume it makes no difference?) Slowly move the robot to the new location. Be carefull not to speed up the robot (Not sure what is meant by speeding up the robot, I just let the program move between the points), the robot will try to reach the same point in space using a different configuration. if the robot drifts away from the point taught when changing configuration then this suggests an inaccurate mastering. (When the points are Joint the robot moves until I have to stop less it would hit a wall, when points are in Linear the robot does not move at all. Does this mean my mastering is acceptable?)