Posts by gpunkt

    Generally when addressing issues, always start with the alarm/event that was reported first.

    Easiest is to open the Alarm History-page and press Reset and then see which alarm is the first to appear.

    As you don't have a Teach Pendandt, you should have a jumper connector (plug) which will jumper the TP E-stop signals.

    Start with that, then hope that the other alarms will be able to reset after that.

    What does mean position is MSTR_POS on SINGLE AXIS MASTER window?

    This is the Joint value that the axis will have after you perform the single axis mastering.
    In your case, if your J6-axis is indeed at -90°, then you want this MSTR POS-value to be just that, so that when you perform the single axis mastering and then after that do the calibration, the system will say that J6 is at -90°.

    This is NOT to be confused with the Quick Mastering Reference Position (commonly referred to as "ref.pos") since Quick Mastering and Single Axis Mastering are two different methods of mastering!

    Normally you never need to make any mastering at all. If you get BZAL, then you should try with the Quick Mastering method if possible.

    Single axis mastering is mainly used when exchanging a single motor or drive belt or similar hardware and usually one will use a dial gauge or equivalent measuring device to ensure that the axis is put in a known position after the intervention.

    People, if you are keen on having a robot that is accurate (and stays accurate), please refrain from performing mastering on your own if you are not 100% sure on how it works. Better to contact your local FANUC-office and have their service technicians do it for you.

    And if any changes are made (in terms of mastering data) that differs from the default values that the robot was delivered with (the data in the data sheet/ "birth certificate"), PLEASE make a clear note of this and make sure that this new information follows the robot if it should be sold or otherwise moved to another location.

    Thank you.

    Do I need to set all the joints by labels or can I create a program with one point and change its JOINT coordinates of all joints to 0 and move the robot there?


    Given that you should only set the ref.pos when you have a good mastering in place, you should create a TP program where you have a J motion to a position in Joint representation. Then you have done what you can to ensure that the robot is as close to 0° as possible in the easiest way possible.

    Like DS186 wrote, use this program after you have made the quick mastering to verify that the mastering was performed as intended.

    (If you use any other joint angles than 0° or if the original markings are lost, make sure to mark the positions physically on the robot axes!)


    I was imagining it to be done in this way, but how do you hide the part when you changed the UT to the desired gripper. Beceause, if you let the part be visible it will be weird to move with the part and the UT at the same time - also when the UT would pick something, the part would just be static.

    I think the glitch will always be there, as you have UT and Part inside each other :(

    Simply "drop" the recently picked part (the UT CAD) but leave the field of where to drop the part on blank.

    Hello, after enhanced mastering again and recalibrating the torch, we were able to achieve even greater accuracy of the TCP point. How can you record/save masterization data so that in the event of a possible BZAL error, you can use Quick Master in the future and not carry out the enhanced masterization procedure. Maybe use SET QUICK MASTER REF?

    Move the robot to a defined position, if possible due to the layout of the installation make this position 0° on all axes, or at least make sure to put some markings on the joints at the ref. position.
    Set the quick mastering ref position.

    Make an AOA backup of the system.

    If BZAL (or other casue) in the future, jog the robot to the markings. Try to be accurate, but know that there is a tolerance of one motor revolution (depending on the robot model this means roughly 1°-2 °). Perform the Quick Mastering, perform the Calibration.


    Could you explain the difference between Quick Master and Zero Position Master? Is it necessary to assign robot links to marks using Quick Master? Usually, when I transfer the robot to another place of work (for example, another city) and I am not satisfied with its accuracy, I did the following procedure. I set each joint of the robot according to the marks, then did Quick Master, then Calibrate and recalibrated the torch. But on one of the trips, after carrying out the described procedure, I noticed that after Quick Master and Calibrate, the values of the joints are not equal to 0 (in the Posn window). I was advised to set each link according to the marks and do Zero Position and Calibrate. And for a while it helped a little. Until now. So how to properly master a robot. Thanks for the answer.

    This is simply due to the fact that regardless of how meticulous you are when positioning the robot's axes at the marks, the chance of you hitting EXACTLY correct are slim to none. So, after doing the QM and the subsequent Calibration, the values indicated in the current position window will be what the controller reads from the pulsecoders' count.

    A better way of verifying the mastering is to move each axis away from the marks, then make a "ZERO" program where you put in a J motion instruction, edit the position and change from Cartesian to Joint representation, then run that line and after that verify that each axis is on its mark.

    Do you have the Molex Dual Channel Profinet harware and software? Then you can probably add your I/O-devices with the use of Molex's engineering tool. Your local FANUC rep should be able to hook you up with this.

    Also, the manual you need is the Profinet Operators manual B-82864EN_08.

    Hey, how would you then simulate the open and close postion, when the tool would be created as a part? Same as it is in the Simulation tab for the UTs.


    I did a tool change application in RG a while back.
    As previously stated, I had the tool CAD as a part on the fixture (the tool stand). Went to the tool pickup position and "picked" the tool using a simulation program. Next, I switched to another tool frame where I had the Tool CAD.

    This way the rest of the program was made with the User Tool CAD model attached to the robot and not the tool CAD as a part.

    There might be a brief momentary visual glitch when the graphics switch between showing the part to showing the user tool CAD.

    But by doing this you can maintain the open/close functionality.

    *User Tool = 0 (emtpy flange)
    *Move to tool pickup position (with FINE)
    *Using sim.prog "pickup" tool part from tool stand fixture
    *Switch active User Tool to the one with the actual open/close CAD
    *Continue with program

    You should be able to use the Right Arrow key to move the cursor to the WAIT-condition and then get contextual choices on the F-buttons.

    Seeing as you have the "Touch Up"-option (on your F5-key?) you are most likely cursored on the Line number, at the far left.

    Also, to change between motion-related functionality for the F-keys and logical/instruction functionality, press the "NEXT" button, to the right of the F5-key. This will toggle between the two modes.

    Put the thumb drive in a computer and format it (FAT-32).

    (or you can use the TP to format the thumb drive, however I find it much more practical an easy to do these kinds of operations on a windows computer)

    Well, not necessarily...

    If you reconnect the external E-stops, do you get the error? If yes, then it seems that you had both internal and external fault. If no, then there doesn't seem to be an error with the external E-stop chain.

    Key switch error is gone now after doing nothing, jumpered the EES (Have done this on a pervious machine so yes, I am familiar with the process and have used it successfully in the past), still same SRVO-007 error

    Ok, that indicates that the issue is not within the external E-stop chain.
    Then it seems to be something wrong with the controller, as kwakisaki explained.

    From the Manual for the R-J3iB:

    (7) SRVO–007 External E–stop

    (Explanation) On the terminal block TBOP4 of the panel board, no

    connection is made between 1 (EES1) and 2 (EES11)

    or between 3 (EES2) and 4 (EES21). If an external

    emergency stop switch is connected between 1

    (EES1) and 2 (EES11) or between 3 (EES2) and 4

    (EES21), the switch is pressed.

    If the SYST–067 (Panel HSSB disconnect) alarm is

    also generated, or if the LED (green) on the panel

    board is turned off, communication between the main

    board (JRS11) and the panel board (JRS11) is

    abnormal. The connectors of the cable between the

    main board and the panel board may be loose. Or, the

    cable, panel board, or main board may be faulty.


    In case that RDY LED (green) is lit.

    (Action 1) If an external emergency stop switch is connected,

    releases the switch.

    (Action 2) Check the switch and cable connected to 1 (EES1) –

    2 (EES11), 3 (EES2) – 4 (EES21) on TBOP4.

    (Action 3) When this signal is not used, make a connection

    between 1 (EES1) and 2 (EES11) or 3 (EES2) and 4


    (Action 4) Replace the panel board.

    In case that RDY LED (green) is not lit.

    (Action 1) Check whether FUSE1 on the panel board is blown.

    If FUSE1 is blown, replace FUSE1 after removing

    the cause.

    Else if, check the voltage of EXT24V and EXT0V

    (TBOP6). If external 24V, 0V is not used check the

    jumper pins between EXT24V and INT24V, EXT0V

    and INT 0V (TBOP6).

    (Action 2) Replace the panel board.

    (Action 3) Replace the cable connecting between the main board

    (JRS11) and the panel board (JRS11).

    Before executing the (Action4), perform a complete controller

    back–up to save all your programs and settings.

    (Action 4) Replace the main board.


    What kind of I/O? Hardwired, I /O bus (if so, which kind?)?

    Not being able to insert an image -do you mean that you are unable to restore an IMG backup?

    If so, how are you trying to do it?

    Which controller is it?

    Also, the System timers (Power on time, servo on time etc.) will be transferred.

    A better approach would be to make sure that they have the same set of options, then load the AOA from the old robot to the new, but excluding the and and files when restoring the AOA to the new robot.

    The things that don't transfer (mainly some settings to the system included in the sysvars-file such as payload) will be easy to punch in manually.

    Which kind of controller is it?

    If it's any other than an A- or B-cabinet, then the system cannot be rebooted other than flipping the main breaker.

    Are you sure that they are not default-programs?

    Some options comes with example-programs that are automatically loaded for instance.

    This sounds like something for your IT-department to look into.

    Your computer should be able to handle multiple network interfaces simultaneously. From the top of my head it seems that your computer is setup so that only one interface can be active, and that there is a bias towards the wifi-interface.

    I've never encountered that problem. Just set your ethernet-interface on the computer to the same IP-subnet range and bada-bing!

    If by factory reset you mean an INIT Start, then no. The installed options will remain, but all settings and programs (and most importantly the mastering data) will be deleted.

    So make an All Of Above backup, go to Boot mode and perform an INIT start.

    Then from CTRL Start mode restore the file from your AOA backup and you should be left with a robot with the same options but with all settings reset to factory default.

    And alongside with the AOA backup it wouldn't hurt to grab an IMG backup as well, just to be safe.